Development of automatic polishing system and fuzzy-sliding mode control based on genetic algorithm

摘要

Polishing a die that has free-form surfaces is a time-consuming and tedious job, and requires a considerable amount of high-precision skill. We develop an automatic polishing system. The system has five degrees of freedom and is able to keep the polishing tool normal to the die surface during polishing process. The polishing system is composed of two subsystems, a three-axis machining center and a two-axis polishing robot. This program consists of 4 modules: polishing module, a graphic simulator, a polishing data generation module, and a teaching module. An automatic teaching system is developed. Also, a polishing robot based on the fuzzy-sliding mode control using genetic algorithm is constructed. In order to evaluate the stability of the developed polishing system and the trajectory tracking performance of the proposed fuzzy-sliding mode control during the polishing process, experiments on polishing the die of shadow mask were carried out.