To achieve the polishing aim which a large freeform surface is grinded with a micro device, a robot system for autonomous grinding is presented. The design method and example are presented to design the structure, control system and software of the robot. The hardware experiment system of 5TTRRT is set up to do a series of experiments on polishing operation, by which, better position, and orientation parameters are acquired. Basic experiments are performed to testify the feasibility and efficiency of the robot. The investigation can give an alternative scheme for designing autonomous grinding robot.
Key words
autonomous grinding robot /
freeform surface /
polishing and compliance control
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