A Structure and Control Design of Constant Force Polishing End Actuator Based on Polishing Robot

摘要

The polishing of product parts is a difficult problem in the field of industrial robots. In order to adapt the industrial robots to the needs of polishing, it is necessary to effectively control the contact stress generated during the actual grinding process. Based on the principle and method of force control, this paper puts forward the constant force end actuator and its control method for industrial robot polishing. Aiming at the problem of the force control of the contact stress during the polishing process, the relevant control method and the device are analyzed. The design scheme of the cushion cylinder as the power output element is put forward, and the working principle of the device is analyzed. A force feedback control system based on force sensor is proposed to keep the polishing contact force in a relatively constant range by dynamically adjusting the output force of the cylinder.