Research On Design Of Compliant Actuator For Mold Polishing Based-on Industrial Robot

As one of the most important procedures in the mold manufacturing, mold polishingquality is key factor affecting the accuracy of the mold surface. In order to improve themolding product quality, one of the most effective ways is to improve mold polishingtechniques. At present, polishing quality and production efficiency are difficult to improvebecause mold polishing always finished by manual operation. To do some research on thisdifficult and hotspot topic, a compliant actuator based-on industrial robot for mold polishingis proposed in this paper. Compliant actuator is used to improve mold surface accuracy andincrease productivity through changing position and posture of tool automatically to supplyconstant contact stress between tool and part adapting to the mold free-form surface curvaturechanging. The main contents of this paper are as follows:1Relationship between stress and force on contact surface was analyzed based onmicro-model of exposure between tool and workpiece; position and posture adjustment of toolwas discussed on the basis of constant stress.2Position and force control strategy of compliant actuator for mold polishing based onrobot is proposed. Compliance mechanism and tool spindle are driven to be taught along moldsurface by fixing on the end of robot; and the position and force of tool spindle are controlledaccurately based on force feedback of sensor.3Compliant actuator is accomplished by assembling purchased parts and designed partsby ourselves, and it is simulated for motion.4Workspace of the compliant actuator was analyzed, and three-dimensional map wasdrawn through searching algorithm.5Position and posture control scheme of moving plate and tool spindle of compliantactuator were expounded. The origin driving, elongation of cylinder is solved by locationinverse method; as a sample, location inverse method is applied to solve interpolation pointson curvature of free-form surface of mold.Position/Force control based on compliant actuator and Position/posture control based onforce sensor are focus of this paper. As innovation points, they are different from3RPSparallel robot for mold polishing proposed previously. Workspace of compliant actuator formold polishing based on robot is symmetries case with certain thickness. Tool spindle canadjust position and posture according to changes in mold free-form surface automatically. Theanticipation of this paper is achieved.