During manufacturing, minor flaws in the surface of commercial airplane interior panels are often corrected using hand sanding, sometimes leading to repetitive stress injuries. Robotic sanding is an attractive option to mitigate these injuries.  
However, in preprogrammed automated sanding, both the sander path and the speed along that path are predetermined.  
Such fixed automation has limited effectiveness due to the part-to-part variability of surface condition. In addition, in typical fixed automation, a constant contact force and path speed are used to maintain constant material removal depth. Teleoperated robotic sanding allows a skilled operator to monitor the process and the condition of the surface in real time to correct the individual flaws. However, during teleoperated sanding, the path and the speed along the path are inherently both time-varying and unknown a priori. The principal contribution of this work is to facilitate precision teleoperated sanding by developing a process model and control strategy that ensures constant material removal depth along the sanding path. Experimental results, with and without the proposed contact-force adjustments, for the same variable speed motion of the sander, shows 65% improvement in spatial variation of material removal with the proposed approach. Along with composite airplane interior panels, this technology could be used to improve other industries which use sanding such as furniture sanding, or auto body repair, or other abrasive material removal processes.


Spatially-Constant Material Removal Control Under Variable-Speed Robotic Sanding

Division / Sponsor: 
Manufacturing Engineering Division (MED)

International Manufacturing Science and Engineering Conference - Paper Proceedings: https://asmedigitalcollection.asme.org/MSEC/MSEC2020/volume/84256

JSME 2020 Conference on Leading Edge Manufacturing/Materials and Processing - Paper Proceedings: https://asmedigitalcollection.asme.org/lemp/LEMP2020/volume/83624

MSEC2020 - Virtual Conference, LEMP2020 - Virtual Conference

Supporting the need among researchers worldwide for additional online and multimedia content, ASME now offers the ASME Conference Video Collection. This platform will collect and provide long-term access to conference presentation videos, encompassing all technology areas within ASME's technical conference and events program. About 30,000-40,000 engineers across all mechanical engineering and related disciplines participate in ASME conferences each year. This includes authors of approximately 6,000 to 8,000 technical papers published by ASME, the majority of whom also submit video presentations for our virtual conferences. The video collection will be available as an add-on to existing product packages or as a separate subscription.