Human-robot collaborative reconfigurable platform for surface finishing processes

摘要

Surface polishing can be counted among the most challenging manufacturing operations, especially when high qualitative levels in terms of surface texture characteristics are requested, such as in the case of polishing operations for plastic injection moulds. Robot-based solutions for surface polishing and quality assessment operations have been proposed at the state of the art, but it still is required the involvement of skilled workers for process supervision and final tuning operations. The introduction of human-machine collaborative solutions opens new opportunities, as the use of symbiotic polishing approaches, where both the humans and the machines capabilities can be shared to improve process effectiveness. The current work proposes a human-robot collaborative approach for surface polishing processes that integrates state of the art robot-based polishing and surface quality assessment technologies in a human-safe shared working environment. As a proof of approach feasibility, the paper presents the prototype of a reconfigurable platform designed to implement a flexible human-robot collaborative scenario for execution of polishing and quality assessment operations. Preliminary demonstrative polishing sessions on simple and complex components validate the system effectiveness with respect to manufacturing efficiency and reconfigurability capabilities. The results obtained provide a first positive response that symbiotic approach can objectively improve the polishing processes.