In the painting process in automotive manufacturing, the repair polishing process is still done manually by a worker with a sufficient skilled technique. However, the number of skilled workers is decreasing with the aging. In addition, the polishing time and the surface quality after the repair polishing are dependent on the proficiency level of the worker. Thus, skill-independent automation technology for the repair polishing is required. In our past research, the serial-parallel mechanism polishing machine was developed for automating the polishing process. The developed machine can control the tool trajectory, tool posture and polishing force simultaneously. In addition, the polishing force is controlled without external sensors by the reaction force observer system. This study aims to develop a polishing automation method for unknown 3-dimensional curved surface by using the developed machine. First, the tool posture control method on unknown curved surface was proposed. Second, the normal force control method based on the posture information was proposed. By using these proposed methods simultaneously, the tool posture and polishing force were controlled in the normal direction on unknown 3-dimesional curved surface. From the experimental results, the validity of the proposed method was verified.
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ASME 2016 11th International Manufacturing Science and Engineering Conference
June 27–July 1, 2016
Blacksburg, Virginia, USA
Conference Sponsors:
- Manufacturing Engineering Division
ISBN:
978-0-7918-4990-3
PROCEEDINGS PAPER
Tool Posture and Polishing Force Control on Unknown 3-Dimensional Curved Surface Available to Purchase
Yasuhiro Kakinuma
Yasuhiro Kakinuma
Keio University, Yokohama, Japan
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Yuta Oba
Keio University, Yokohama, Japan
Yasuhiro Kakinuma
Keio University, Yokohama, Japan
Paper No:
MSEC2016-8762, V002T04A038; 8 pages
Published Online:
September 27, 2016
Citation
Oba, Y, & Kakinuma, Y. "Tool Posture and Polishing Force Control on Unknown 3-Dimensional Curved Surface." Proceedings of the ASME 2016 11th International Manufacturing Science and Engineering Conference. Volume 2: Materials; Biomanufacturing; Properties, Applications and Systems; Sustainable Manufacturing. Blacksburg, Virginia, USA. June 27–July 1, 2016. V002T04A038. ASME. https://doi.org/10.1115/MSEC2016-8762
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