Development of a novel robotic wrist F/T sensor and its implementation in the grinding operation

Bo You; Michel Galopin

doi:10.1117/12.385517

9 May 2000 Development of a novel robotic wrist F/T sensor and its implementation in the grinding operation

Bo You, Michel Galopin

Proceedings Volume 4077, International Conference on Sensors and Control Techniques (ICSC 2000); (2000) https://doi.org/10.1117/12.385517
Event: International Conference on Sensors and Control Techniques (ICSC2000), 2000, Wuhan, China

Abstract

Grinding is one of the most complex and unpredictable metal- removing processes. Based on the in situ repairing operation in turbine blades, this paper presents a novel welding and grinding system, which consists of a portable robot and its control system, a novel waist F/T sensor and its control system, camera and image processing card, welding gun and grinding well. The robot can be moved and can be conveniently operated by one man. At the same time, it is fit into a 600 mm hole (access hole) and can reach over 90% of the total blade surface. Its productivity increases three times compared to man operation.

Citation Download Citation

Bo You and Michel Galopin "Development of a novel robotic wrist F/T sensor and its implementation in the grinding operation", Proc. SPIE 4077, International Conference on Sensors and Control Techniques (ICSC 2000), (9 May 2000); https://doi.org/10.1117/12.385517

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