Robotic Magnetorheological Finishing Technology Based on Constant Polishing Force Control
نویسندگان
چکیده
The normal positioning error hinders the use of magnetorheological finishing (MRF) in robotic polishing. In this paper, influence on MRF removal rate is revealed, and a force-controlled end-effector for process presented. developed integrated into six-axis industrial robot, robot positions while realizes constant force control. A fused silicon mirror polished, result shows that proposed device effectively compensates simultaneously maintains stability polishing process. After deterministic polishing, PV (peak to valley) figure reduced from 126.56nm 56.95nm, RMS (root mean square) 22.15 nm 7.59 nm.
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ژورنال
عنوان ژورنال: Applied sciences
سال: 2022
ISSN: ['2076-3417']
DOI: https://doi.org/10.3390/app12083737