Preliminary design and testing of a novel robot design for metal finishing applications

被引：0
|
作者：
Somes, SD [1 ]
Dohring, ME [1 ]
Newman, WS [1 ]
机构：
[1] Western Rotob Co, Kirtland, OH 44094 USA
来源：
2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4 | 2005年
关键词：
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
We present a novel robot design concept intended for material removal in finishing operations. A key component of the design is a cable-driven transmission that exhibits low friction, negligible backlash and high linearity. Use of this transmission in a 2-DOF test rig demonstrated the capacity for stable, smooth performance in grinding and polishing operations. The prototype could be programmed quickly to remove surface flaws using compliant lead-through for teaching. During grinding, the robot was capable of measuring surface profiles to monitor grinding progress. A full-mobility design concept is proposed for an advanced surface-finishing robot.
引用
收藏
页码：3294 / 3299
页数：6
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