scholarly journals Coverage Based Tool-Path Planning For Automated Polishing Using Contact Mechanics Theory

2021 ◽  
Author(s):  
Michael Rososhansky
Keyword(s):  
Path Planning ◽  
Contact Mechanics ◽  
Contact Area ◽  
Tool Path ◽  
Tool Path Planning ◽  
Coverage Area ◽  
Modeling And Analysis ◽  
Contact Points ◽  
Polishing Path ◽  
Polishing Tool

Presented in this thesis is a method for tool-path planning for automated polishing. This work is an intergral part of the research program on automated polishing/deburring being carried out at Ryerson University. Whereas tool-path planning for machining is treated as a geometry problem, it ks shown here that tool-path planning for polishing should be treated as a contact mechanics problem because of the contact action between the polishing tool and the part surface. To develop this algorithm, contact mechanics is applied for contact area modeling and analysis, Once the contact area is determined, for multiple contact points along the given polishing path, a map of the contact area is generated and utilized to show the coverage area during polishing. This map is then used to plan a polishing path that ensures complete coverage for polishing, Simulation has been carried out to show the effetiveness of this new polishing path algorithm.

scholarly journals Coverage Based Tool-Path Planning For Automated Polishing Using Contact Mechanics Theory

2021 ◽  
Author(s):  
Michael Rososhansky
Keyword(s):  
Path Planning ◽  
Contact Mechanics ◽  
Contact Area ◽  
Tool Path ◽  
Tool Path Planning ◽  
Coverage Area ◽  
Modeling And Analysis ◽  
Contact Points ◽  
Polishing Path ◽  
Polishing Tool

Presented in this thesis is a method for tool-path planning for automated polishing. This work is an intergral part of the research program on automated polishing/deburring being carried out at Ryerson University. Whereas tool-path planning for machining is treated as a geometry problem, it ks shown here that tool-path planning for polishing should be treated as a contact mechanics problem because of the contact action between the polishing tool and the part surface. To develop this algorithm, contact mechanics is applied for contact area modeling and analysis, Once the contact area is determined, for multiple contact points along the given polishing path, a map of the contact area is generated and utilized to show the coverage area during polishing. This map is then used to plan a polishing path that ensures complete coverage for polishing, Simulation has been carried out to show the effetiveness of this new polishing path algorithm.

scholarly journals Elastic-contact-based tool-path planning for free-form surface in belt grinding

2019 ◽  
Vol 11 (1) ◽  
pp. 168781401881992 ◽  
Author(s):  
Junde Qi ◽  
Bing Chen
Keyword(s):  
Path Planning ◽  
Contact Area ◽  
Tool Path ◽  
Hertzian Contact ◽  
Free Form ◽  
Real Contact Area ◽  
Elastic Contact ◽  
Tool Path Planning ◽  
Belt Grinding ◽  
Free Form Surface

As for the fact that the majority of current researches take the technology of tool-path planning for free-form surface only as a geometrical problem, which is not suitable for belt grinding because of the elastic deformation of the grinding belt that leads to a variable contact, in this article, the tool-path planning method for belt grinding is developed from the elastic contact point of view. Based on the Hertzian contact theory and taking the grinding force into consideration, a calculation method of the contact area between the belt and the workpiece is presented. Then, a tool-path planning model is presented based on the real contact area to meet the full coverage. In addition, an optimization model based on the constant scallop-height is further developed to meet the high form accuracy of the workpiece. First, a modified model for the material removal depth is developed based on the Preston equation. Then, according to the curvature of the contact surface, three situations are analyzed and the calculation methods of the tool-path interval are given. Finally, experiments on the simulation blade are conducted, and the experimental results show the effectiveness of the method in this article.

Study on Path Planning for Industrial Robots in Free-Form Surfaces Polishing

2008 ◽  
Vol 392-394 ◽  
pp. 771-776 ◽  
Author(s):  
Jian Ming Zhan ◽  
Xiao Qin Zhou ◽  
Li Yong Hu
Keyword(s):  
Path Planning ◽  
Tool Path ◽  
Industrial Robots ◽  
Planning Method ◽  
Free Form ◽  
Systematic Research ◽  
Tool Path Planning ◽  
Direction Parallel ◽  
Free Form Surfaces ◽  
Polishing Tool

Expected path of polishing tool is one of the most essential needs for movement scheduling and movement controlling of polishing robot in free-form surfaces polishing. By analyzing the expected movement and position of polishing tool and based on the traditional movement scheduling methods, this paper carries out systematic research works on contour-parallel-machining tool path planning method and direction-parallel-machining tool path planning method for polishing tool paths figuring out. Compared with contour-parallel-machining tool path planning method, the direction-parallel-machining tool path planning method needs one less number of degree of freedom and is much easier to avoid physical interventions and mechanic singularity, so it is an improved one.

The Effect of Polishing Tool Path on Polishing Parameters

2011 ◽  
Vol 101-102 ◽  
pp. 1043-1046 ◽  
Author(s):  
Di Zheng ◽  
Feng Lu ◽  
Li Zhong Zhang ◽  
Yong Jie Shi
Keyword(s):  
Path Planning ◽  
Material Removal ◽  
Tool Path ◽  
Magnetorheological Fluid ◽  
Planning Method ◽  
Aspheric Surfaces ◽  
Coupling Problem ◽  
Polishing Force ◽  
Polishing Path ◽  
Polishing Tool

The force-position decoupling technology based on Magnetorheological Fluid Torque Servo (MRT) can effectively solve the force-position coupling problem existed commonly in polishing processes. In the new polishing system, polishing force is not generated directly by the displacement of polishing tool, but provided by the MRT. Polishing path planning is another key point of the force-position decoupling technology. In this paper, a polishing path planning method was proposed, and the effect of polishing tool path on polishing parameters was analyzed. The law obtained will guide the uniform material removal of aspheric surfaces.

Incorporating Tool Contact Considerations in Tool-Path Planning for Robotic Operations

2020 ◽  
Author(s):  
Prahar M. Bhatt ◽  
Cheng Gong ◽  
Ariyan M. Kabir ◽  
Rishi K. Malhan ◽  
Brual C. Shah ◽  
...  
Keyword(s):  
Path Planning ◽  
Tool Path ◽  
Complex Geometry ◽  
Contact Point ◽  
Robotic Manipulators ◽  
Geometric Constraints ◽  
Planning Problem ◽  
Test Cases ◽  
Tool Path Planning ◽  
Contact Points

Abstract Tool-Path planning is the foundation for automating many manufacturing processes. Robotic manipulators are increasingly being considered to automate tasks that require complex tool motions. Robotic manipulators provide extra degrees of freedom and are more flexible than traditional automation technologies. However, a tool-path needs to be planned and given to the manipulator trajectory generator as input. The traditional tool-path planning considers the tool to have one contact point, known as the Tool Center Point (TCP). This underutilizes the available flexibility of the manipulator. To make use of the manipulator’s flexibility, multiple contact points or multiple TCPs can be considered. These tool contact considerations make the tool path planning problem complex and computationally challenging. In this paper, we present a novel tool path planning algorithm. Our algorithm incorporates the multiple tool contact points consideration during tool-path planning in an efficient manner to generate a high-quality tool-path in a reasonable amount of run time. We evaluated our algorithm on four different test cases. The test cases include the parts with complex geometry and tools which can have surface area for establishing contacts with the part. In these test cases, a traditional single contact tool-path will not work due to geometric constraints, and multiple tool contacts make the problem challenging. Our algorithm was able to generate tool-paths for these four test cases successfully.

scholarly journals A Tool-path Planning Method Used in Computer Controlled Optical Surfacing Based on Improved Prim Algorithm

2021 ◽  
Author(s):  
Yinhui Xie ◽  
Jinxing Yang ◽  
Weilong Huang ◽  
Jun Li
Keyword(s):  
Path Planning ◽  
Path Length ◽  
Tool Path ◽  
Planning Method ◽  
Frequency Error ◽  
Tool Path Planning ◽  
Polishing Path ◽  
Planning Methods ◽  
Low Efficiency ◽  
Polishing Efficiency

Abstract In view of the disadvantages of existing planning methods used in CCOS techniques, such as low efficiency and workpieces contain obvious mid-frequency error after polishing, a new tool-path planning method based on improved Prim algorithm was proposed, of which the core idea was consist by following steps: surface data reading, mesh generation, distribution of resident points determining and polishing path generating. After that, comparison of raster path and the path based on improved Prim algorithm was carried out by simulated experiments from aspects of path length and polishing texture. The results indicated that the path based on improved Prim algorithm could shorten path length as well as increase polishing efficiency, moreover, both the texture and mid-frequency errors can be improved by using the path presented. It was concluded that the presented planning method could improve polishing efficiency and machining quality. Then, comparison between raster path and the path based on improved Prim algorithm was carried out by simulated experiments, from two sides of path length and polishing texture. The results indicated that the path based on improved Prim algorithm could shorten path length as well as increase polishing efficiency, moreover, both the texture and mid-frequency errors would be improved by using the presented path. Finally, the validity of presented planning method was proved in machining experiments.

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