Process modeling for robotic polishing
Abstract This paper presents the solutions adopted for a robotic polishing cell for mold manufacturing. Mold finishing is frequently carried out manually; these kinds of operations are iterative, time consuming and require experience. Automation can introduce cost reduction minimizing production times on such manual finishing operations. The research shown in this paper provides an overall solution without discarding aspects that could be relevant to the task considered in the mold making environment. Most of the mold makers usually employ CAD/CAM systems in order to design workpieces and to prepare the CNC programs to manufacture the parts, this CAD data can also be used to prepare programs for the actual robot finishing of these parts. In this work, an automatic planning and programming system based on data from a CAD system is described. The direct use of the paths implies difficulties of adaptation mostly when free-shaped surfaces are treated, so that the use of a constant contact force control has also been considered. To accomplish the automation of the process it is necessary to establish a behavior model of the system’s variables. This fact allows the definition of the task specifications of the tools and, as a result, both the planning system and the control strategy by stages of the polishing process.
Track planning and pressure control of robotic gasbag polishing technique with improved polishing tool
In order to obtain well-proportioned surface quality and high polishing efficiency of free-form mould, a robotic gasbag polishing technique using an improved spinning-inflated-gasbag polishing tool is proposed in this paper. The improved polishing tool consists of three detachable modules, which are the drive, soft rubber gasbag and magnetorheology. The six degrees of freedom industrial robot with a low-cost pressure control system is used for holding the improved polishing tool and controlling the polishing process such as the path, position, orientation, pressure and rheological behavior, so as to form an automated polishing system. The flow chart of polishing track planning and the low-cost solution of pressure control of the gasbag for better pose control and pressure adjustment are presented and the key technologies are analyzed in detail. The polishing experiments of free-form mould and observation of images after polishing indicate that robotic gasbag polishing technique can achieve well-proportioned surface quality and surface roughness of Ra 5 nm.
Measuring Sheet Resistances of Dielectrics Using Co‐Planar Hydrogel Electrochemical Cells with Practical Applications to Characterize the Protective Quality of Paints on Sculptures
Electrical properties of thin dielectric films at the solid-liquid phase boundary are an important performance characteristic of many devices, coatings and sensors. In this paper, co-polymeric hydrogels of polyacrylic acid co-sulfonic acid, swollen with a salt solution to act as the solid electrolyte, were used to assess interfaces using electrochemical impedance spectroscopy (EIS) in a co-planar geometry. Silane-modified glasses were characterized by the co-planar hydrogel EIS cell and found to be distinguishable based on their surface monolayer chemistry. EIS measurements were also made on primed and painted metal substrates, using both test panels and an outdoor sculpture, Tony Smith's Stinger. The panels were then exposed to accelerated and outdoor weathering and showed degradation on the surface paint layers, which was observable electrochemically using EIS and confirmed visually by SEM. Electrochemical spectral features were compared between data from a standard paint-test cell versus this co-planar hydrogel cell; both cell types were able to measure coating capacitance, providing useful information about the condition of the bulk coating. Yet, sheet resistance (Rs) was a spectral feature seen only by the co-planar hydrogel cell. Thus, it can be concluded that the use of such co-planar hydrogel cells can provide an earlier warning sign to coating degradation and such cells provide a new type of spectral information that is not assessable by the standard geometry.