In this paper, a deburring tool with 3-axis compliance is presented for deburring using a robot manipulator. Compliance is provided with beam structures instead of pneumatic pressure, which enables integrated 3-axis force sensing and variable stiffness. Two radial compliances were achieved using 4-PSS (Prismatic-Spherical-Spherical) legs, with P joints composed of cantilever beams. The one axial compliance was configured with two ball bushings and a linear spring. Strain gauges were attached to cantilever beams and a load cell was mounted between the linear spring and the universal joint to perform force sensing. The stability of vibrations and force sensing were verified through deburring experiments using the proposed deburring tool. Additionally, experiments on automatic offset for applying a constant force during deburring were conducted and results were validated by comparing the workpiece before and after the deburring process.
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Stress Analysis of a Robot End-Effector Knife for the Deburring Process Jeong-Jin Park, Jeong-Hyun Sohn, Kyung-Chang Lee Journal of the Korean Society of Manufacturing Process Engineers.2025; 24(6): 42. CrossRef
Stress Analysis of a Robot End-Effector Knife for the Deburring Process Jeong-Jin Park, Jeong-Hyun Sohn, Kyung-Chang Lee Journal of the Korean Society of Manufacturing Process Engineers.2025; 24(6): 42. CrossRef
It is difficult for a human operator to find roll, pitch, yaw (RPY) that indicates the desired direction of unmanned aerial vehicle (UAV) in a three-dimensional space. Herein, a controller for UAV was developed allowing the human operator controlling the direction of UAV without finding RPY information. The algorithm implemented in the controller automatically calculated RPY information of UAV from the normal vector of the end effector. The developed controller was designed using a parallel mechanism. The joint angles of the controller were measured using potentiometers to estimate the normal vector of the end effector. Five subjects participated in an experiment to control a vector in three-dimensional space to follow a randomly generated target vector using the developed controller and the thumb sticks. The performance of the two controllers was evaluated by two methods: measuring the required time to reduce the error between the controlled vector and the target vector to be less than 0.1 cm and calculating a normalized error between the controlled vector and the target vector after manipulating the controlled vector for 10 seconds. When using the developed controller, the difference in control ability between subjects was reduced, and both required time and normalized error were generally reduced.
A fine stage is developed for the 3-DOF error compensation of a linear axis in order to improve the positioning accuracy. This stage is designed as a planar parallel mechanism, and the joints are based on a flexure hinge to achieve ultra-precise positioning. Also, the effect of Abbe’s offsets between the measuring and driving coordinate systems is minimized to ensure an exact error compensation. The mode shapes of the designed stage are analyzed to verify the desired 3-DOF motions, and the workspace and displacement of a piezoelectric actuator (PZT) for compensation are analyzed using forward and inverse kinematics. The 3-DOF error of a linear axis is measured and compensated by using the developed fine stage. A marked improvement is observed compared to the results obtained without error compensation. The peak-to-valley (PV) values of the positional and rotational errors are reduced by 92.6% and 91.3%, respectively.
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A new method to identify the position-independent geometric errors in the rotary axes of five-axis machine tools Seth Osei, Wei Wang, Qicheng Ding Journal of Manufacturing Processes.2023; 87: 46. CrossRef
Development and Performance Evaluation of a Fine Stage for Compensating 6-DOF Motion Errors of an Ultra-Precision Linear Stage Hoon-Hee Lee, In-Seok Lee, Kwang-Il Lee, Seung-Han Yang Journal of the Korean Society for Precision Engineering.2021; 38(2): 123. CrossRef
Optimal On-Machine Measurement of Position-Independent Geometric Errors for Rotary Axes in Five-Axis Machines with a Universal Head Kwang-Il Lee, Jae-Chang Lee, Seung-Han Yang International Journal of Precision Engineering and Manufacturing.2018; 19(4): 545. CrossRef
Error Compensation Using Variable Stiffness in Orbital Grinding Joon Jang, Woo Chun Choi International Journal of Precision Engineering and Manufacturing.2018; 19(3): 317. CrossRef
Face- and Body-Diagonal Length Tests using a Double Ball-Bar for Squareness Errors of Machine Tools Seung-Han Yang, Hoon-Hee Lee, Kwang-Il Lee International Journal of Precision Engineering and Manufacturing.2018; 19(7): 1039. CrossRef
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