Investigating The Force Imposed In Polishing Process For Comau Robot

Mohd Fairuz, Shahadan (2009) Investigating The Force Imposed In Polishing Process For Comau Robot. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

Polishing is the process was used to rid scuff, rust, spot and others on a surface. It is aims to generate better surface and seem shine like mirror. Usually, this polishing process is committed by human skill. This polishing process also need enough force to eliminate the effect found on the polished surface. Nowadays, many polishing process already program to the robot. By using robot, the force imposed during polishing process can be measured. In this project, the robot used is COMAU robot in robotics laboratory. The force imposed during polishing process is measured by using the equipment which can measure the force such as Force / Torque sensor, Force Plate sensor and others. In this project, the force imposed during polishing process at three different surfaces patch is investigated and measured by using Force Plate sensor. The three of the surfaces are classified as soft surface patch, medium surface patch and hard surface patch. As a result, the force imposed on all three types of surfaces is different. In this final project, an analysis is made to identify how many forces is necessary and suitable to do the polishing process on surface types that need to be polished

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