Polishing Robot Attached to a Machining Center for a Freely-Curved Surface Die

  • Lee, Min-Cheol (School of Mechanical Engineering, Pusan National University) ;
  • Go, Seok-Jo (Division of Mechanical Engineering, Dongeui Institute of Technology) ;
  • Cho, Young-Gil (SAMSUNG Electro-Mechanics Co. Ltd.) ;
  • Lee, Man-Hyung (School of Mechanical Engineering, Pusan National University)
  • 발행 : 2002.10.01

초록

Polishing a die that has free-form surfaces is a time-consuming and tedious job, and requires a considerable amount of high-precision skill. In order to reduce the polishing time and cope with the shortage of skilled workers, a user-friendly automatic polishing system was developed. The polishing system is composed of two subsystems, a three-axis machining center and a two-axis polishing robot. The system has five degrees of freedom and is able to keep the polishing tool in a position normal to the die surface during operation. A sliding mode control algorithm with velocity compensation was proposed to reduce tracking errors. Trajectory tracking experiments showed that the tracking error can be reduced prominently by the proposed sliding mode control compared to a PD (proportional derivative) control. To evaluate the polishing performance of the polishing system and to and the optimal polishing conditions, the polishing experiments were conducted.

키워드

참고문헌

  1. M. Kazutoyo, K. Tsukasa, I. Satoru, S. Katsumasa, and S. Tetuo, 'Study on Automatic Polishing of Injection Mold -Polishing with constant pressure under controlled tool staying time-,' Proc. of the ABTEC, pp. 431-434, 1995
  2. G. M. Park, J. H. Jang, and C. S. Han, 'A study on the Experimental Analysis of the Automatic Fine Polishing System,' J. of KSPE, Vol. 12, No. 9, pp. 30-39, 1995
  3. M. Suziki, S. lchiyasu, K. Kirii, S. Sunahara, T. Sakuta, and A. Asai, 'Development of Die-finishing Robotic System Controlled by CAD/CAM System,' JSPE-58-08, pp. 1309-1314, 1992
  4. S. C. Kang, M. S. Kim, and K. I. Lee, 'Development and Verification of a Robot Off-line Programming System for Die Polishing Process,' J. of KSPE, Vol. 14, No. 1, pp 69-77, 1997
  5. M. Kunieda, T. Nakagawa, and T. Higuchi, 'Robot Polishing of Curved Surface with Magnetically Pressed Polishing Tool,' JSPE, Vol. 54, No.1, pp. 121-125, 1988
  6. Y. S. Oh and B. S. Ryuh, 'The Development of Grinding Robot System Using NC Data and Off-Line Programming,' J. of KSPE, Vol. 16, No. 3, pp. 9-17, 1999
  7. S. J. Park, S. H. Lee, K. S. Ryu, B. S. Sin, D. S. Choi, and D. H. Kim, Development of an Integrated Design and Machining System for 3-D Surface, Final Report, KIMM, 1993
  8. K. Shunichi, A. Tojiro, and L. Ichiro, 'Development of a Robot-Polishing System (Polishing Force Control by Means of fuzzy Set Theory),' JSME J. Series C, Vol. 57, No 543, pp. 3714-3719, 1991
  9. M. C. Lee, Y. G. Cho, and M. H. Lee, 'Evaluation of Polishing Performance Using the Improved Polishing Robot System Attached to Machining Center,' J. of KSPE, Vol. 16, No. 9, pp. 179-190, 1999
  10. M. C. Lee, S. J. Go, M. H. Lee, C. S. Jun, D. S. Kim, K. D. Cha, and J. H. Ahn, 'A Robust Trajectory Tracking Control of a Polishing Robot System Based on CAM Data,' Int. J. of RCIM, Vol. 17:1-2, pp. 177-183, 2001 https://doi.org/10.1016/S0736-5845(00)00052-1
  11. K. S. Fu, R. C. Gonzalez, and C. S. G. Lee, Robotics, McGraw-Hill, 1987
  12. K. Nishimoto, 'DSP and Its Application to Robot Control,' J. of the Robotics Society of Japan, Vol. 7, No. 3, pp. 339-345, 1985
  13. M. C. Lee, and D. J. Ha, 'A Study on the Development of Polishing Robot System Attached to Machining Center for Curved Surface Die,' J. of KSPE, Vol. 16, No. 4, 1999
  14. M. C. Lee, and N. Aoshima, 'Identification and Its Evaluation of the System with a Nonlinear Element by Signal Compression Method,' Trans. of SICE, pp. 729-736, 1989
  15. M. C. Lge and N. Aoshima, 'Real Time Multi-Input Sliding Mode Control of a Robot Manipulator Based on DSP,' Proc. of SICE, pp. 1223-1228, 1993
  16. M. C. Lee, and S. J. Go, ' Real Time Fuzzy-Sliding Mode Control for SCARA Robot Based on DSP,' Proc. of 2nd Asian Control Conference, pp. 599-602, 1997
  17. M. C. Lee, K. Son, J. M. Lee, 'Improving Tracking Performance of Industrial SCARA Robots Using a New Sliding Mode Control Algorithm,' KSME I. J., Vol. 12, No. 5, pp. 761-772, 1998 https://doi.org/10.1007/BF02945543