Development of a Multi-DOFs Pneumatic Servo Polishing Robot

Force-position hybrid control has always been a key problem in polishing robots, especially when polishing objects are complex curved parts. In this paper we have developed a pneumatic servo polishing robot with five DOFs which can solve this problem with a lower cost. The mechanical structure and of polishing robot is introduced at first. Then the mathematical model of the polishing robot is derived and the result of polishing force is analyzed in detail. Simulation and experiment are provided in the end which can prove the efficiency of the proposed polishing robot.