Scheduled System Maintenance on December 17th, 2014:
IEEE Xplore will be upgraded between 2:00 and 5:00 PM EST (18:00 - 21:00) UTC. During this time there may be intermittent impact on performance. We apologize for any inconvenience.
By Topic

Desktop orthogonal-type robot with abilities of compliant motion and stick-slip motion for lapping of LED lens molds

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

8 Author(s)
Nagata, F. ; Dept. of Mech. Eng., Tokyo Univ. of Sci., Yamaguchi, Japan ; Mizobuchi, T. ; Tani, S. ; Hase, T.
more authors

In this paper, a new desktop orthogonal-type robot, which has abilities of compliant motion and stick-slip motion, is first presented for lapping small metallic molds with curved surface. The robot consists of three single-axis devices with a high position resolution of 1 μm. A thin wood stick tool is attached to the tip of the z-axis. The tool tip has a small ball-end shape. The control system is composed of a force feedback loop, position feedback loop and position feedforward loop. The force feedback loop controls the polishing force consisting of tool contact force and kinetic friction forces. The position feedback loop controls the position in pick feed direction, e.g., z-direction. The position feedforward loop leads the tool tip along a desired trajectory called cutter location data (CL data). The CL data are generated from the main-processor of a CAM system. The proposed robot realizes a compliant motion required for the surface following control along a spiral path. In order to improve the lapping performance, a small stick-slip motion control strategy is further added to the control system. The small stick-slip motion is orthogonally generated to the direction of the tool moving direction. Generally, the stick-slip motion is an undesirable phenomenon and should be eliminated in precision machineries. However, the proposed robot employs a small stick-slip motion to improve the lapping quality. The effectiveness of the robot is examined through an actual lapping test of an LED lens mold with a diameter of 4 mm.

Published in:

Robotics and Automation (ICRA), 2010 IEEE International Conference on

Date of Conference:

3-7 May 2010