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Design of flexible system for robotic grinding and polishing based on force control

GAO Qiang;TIAN Fengjie;SONG Jianxin;School of Mechanical Engineering,Shenyang Ligong University;  
In order to complete automatic and flexible finishing machining on freeform surface,a robot grinding and polishing system was established based on force control.The system composes of robot and controller,force/moment sensor,flexible machining tool,computer and air compressor.Communication mode and protocol were briefly introduced among parts.A new active and passive flexible polishing tool installed on robot end effector was designed,which is able to imitate manual grinding and polishing and overcome the contradiction between the rigidity and flexibility of robot.The system implements the grinding and polishing based on force control,which guarantees the stationary of cutting force and improves the machining quality.
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