Ubeda Rodrigo Pérez, Gutiérrez Rubert Santiago C, Stanisic Ranko Zotovic, Perles Ivars Ángel
Department of Mechanical and Materials Engineering, Universitat Politècnica de València, 46022 Valencia, Spain.
Institute of Industrial Control Systems and Computing, Universitat Politècnica de València, 46022 Valencia, Spain.
Materials (Basel). 2020 Dec 25;14(1):67. doi: 10.3390/ma14010067.
The rise of collaborative robots urges the consideration of them for different industrial tasks such as sanding. In this context, the purpose of this article is to demonstrate the feasibility of using collaborative robots in processing operations, such as orbital sanding. For the demonstration, the tools and working conditions have been adjusted to the capacity of the robot. Materials with different characteristics have been selected, such as aluminium, steel, brass, wood, and plastic. An inner/outer control loop strategy has been used, complementing the robot's motion control with an outer force control loop. After carrying out an explanatory design of experiments, it was observed that it is possible to perform the operation in all materials, without destabilising the control, with a mean force error of 0.32%. Compared with industrial robots, collaborative ones can perform the same sanding task with similar results. An important outcome is that unlike what might be thought, an increase in the applied force does not guarantee a better finish. In fact, an increase in the feed rate does not produce significant variation in the finish-less than 0.02 µm; therefore, the process is in a "saturation state" and it is possible to increase the feed rate to increase productivity.
协作机器人的兴起促使人们考虑将它们用于诸如打磨等不同的工业任务。在此背景下，本文的目的是证明在诸如轨道打磨等加工操作中使用协作机器人的可行性。为了进行演示，工具和工作条件已根据机器人的能力进行了调整。选择了具有不同特性的材料，如铝、钢、黄铜、木材和塑料。采用了内/外控制回路策略，通过外力控制回路对机器人的运动控制进行补充。在进行了一个解释性的实验设计后，观察到在所有材料上都可以执行该操作，而不会使控制不稳定，平均力误差为0.32%。与工业机器人相比，协作机器人可以执行相同的打磨任务并获得相似的结果。一个重要的结果是，与可能的想法不同，施加力的增加并不能保证更好的表面光洁度。事实上，进给速度的增加不会使表面光洁度产生显著变化——小于0.02微米；因此，该过程处于“饱和状态”，可以提高进给速度以提高生产率。
