Next Article in Journal
Sol-Gel Glass-Ceramic Materials Containing CaF2:Eu3+ Fluoride Nanocrystals for Reddish-Orange Photoluminescence Applications
Previous Article in Journal
Key Roles of Plasmonics in Wireless THz Nanocommunications—A Survey
Open AccessArticle

Path Planning under Force Control in Robotic Polishing of the Complex Curved Surfaces

by Imran Mohsin 1,2,3, Kai He 1,3,*, Zheng Li 4 and Ruxu Du 5
1
Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China
2
Shenzhen Institute of Advanced Technology, University of Chinese Academy of Sciences, Shenzhen 518055, China
3
Shenzhen Key Laboratory of Precision Engineering, Shenzhen 518055, China
4
Department of Surgery and Chow Yuk Ho Technology Centre for Innovation Medicine, The Chinese University of Hong Kong, Hong Kong, China
5
S. M. Wu School of Intelligent Engineering, South China University of Technology, Guangzhou 511442, China
*
Author to whom correspondence should be addressed.
Appl. Sci. 2019, 9(24), 5489; https://doi.org/10.3390/app9245489
Received: 20 November 2019 / Revised: 6 December 2019 / Accepted: 10 December 2019 / Published: 13 December 2019
Surface polishing is required in many manufacturing sectors. Currently, it demands a large amount of manual work, which is time-consuming, error-prone, and costly. Additionally, it creates hazards for the workers as it may result in many deadly respiratory diseases. Robotic polishing is the solution to these problems. It can improve productivity, eliminate the defects, and provides consistent product quality. In this paper, an effective approach is presented for the robotic polishing of the complex curved surfaces. The key part of the presented method is the tool path planning with controlled force and polishing parameters optimization evaluated using design of experiments (DOE). The tool path planning is aimed at improving the surface quality and the contact area per path. The constraints of joint limits and productivity are also considered. Moreover, its jerk avoidance strategy allows the robot to move swiftly while ensuring a smooth trajectory. The presented method is verified for the polishing of an eyeglass frame. A considerable improvement of 90% on the average roughness is achieved with the maximum acceptable roughness set at 0.02 µm. The polishing operation takes just 79 secs and the average glossiness of 76 G is achieved on the final product along with the successful elimination of scratches on the surface. View Full-Text
Keywords: robotic polishing; path planning; force control; glossiness; surface roughness robotic polishing; path planning; force control; glossiness; surface roughness
Show Figures

Figure 1

MDPI and ACS Style

Mohsin, I.; He, K.; Li, Z.; Du, R. Path Planning under Force Control in Robotic Polishing of the Complex Curved Surfaces. Appl. Sci. 2019, 9, 5489.

Show more citation formats Show less citations formats
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

1
Back to TopTop