Abstract—In this study, the existing super-finishing method used for polishing glass surfaces was refined using a five-bar planar parallel robot with fixed abrasive grains. In previous studies, a voice coil motor had been used to control the constant-pressure pressing force while maintaining the polishing force for a relatively short time period. To achieve a high-quality polished surface, however, it is important to maintain the polishing force for a long period of time. Thus, in this study, a strain gauge load cell was adopted in addition to the conventional piezoelectric force sensor to maintain the polishing force for a long time period. First, the amounts of DC drift of the piezoelectric force sensor and the strain gauge load cell were compared to confirm the necessity of signal processing. Next, the measurement system was subjected to a hammering test, and the gain of the Proportional-Integral-Differential (PID) control was determined by obtaining the transfer function. Finally, a long-time polishing experiment using two sensors with PID control was conducted to confirm the stability of the polishing. It was found that the system was able to maintain a preset low pressure and perform stable polishing for a long time. It was also able to detect high-frequency vibrations simultaneously.

Index Terms—Force control, PID control, polishing, automation, robot

Cite: Taichi Yamamoto, Toshiki Hirogaki, and Eiichi Aoyama, "Investigation of Super-Finishing Process Control Using a Fine Diamond Stone with a Five-Bar Planar Parallel Robot," International Journal of Mechanical Engineering and Robotics Research, Vol. 11, No. 7, pp. 501-506, July 2022. DOI: 10.18178/ijmerr.11.7.501-506

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