Investigation of Glass Polishing Motion Based on Micro-Oscillating Pressing Force with a Compact Robot and Fine Diamond Stone

摘要

To reduce the environmental impact of abrasive polishing, we have investigated using a compact robot and fixed-abrasive polishing. We look at a five-joint closed-link compact robot with a fine diamond stone on its main axis to polish a glass plate. In this method, we measured the chatter vibration in glass polishing motion due to the low stiffness of the robot arm. Therefore, we estimated a dynamic characteristic of the robot arm by a hammering test and measured the friction coefficient between the glass plate and the abrasive stone. From these results, we attempted a novel polishing method to prevent its self-vibration using micro-oscillating pressing force with a voice coil motor. As a result, the proposed method of polishing a glass plate with a compact robot and a fine diamond stone was found to be effective.