Abstract
In this article, a new desktop orthogonal-type robot, which has the capacity of stick-slip motion control based on cutter location data, is presented for lapping small metallic molds with a curved surface. The robot consists of three single-axis devices with a high position resolution of 1 μm. A thin wooden stick tool with a ball-end shape is attached to the tip of the z-axis. In order to improve the lapping performance, a novel stick-slip motion control method is developed in the control system. The small stick-slip motion is orthogonally generated in the direction of the tool’s movement. The effectiveness of stick-slip motion control is examined through an actual lapping test of an LED lens cavity.
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This work was presented in part at the 15th International Symposium on Artifi cial Life and Robotics, Oita, Japan, February 4–6, 2010
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Nagata, F., Mizobuchi, T., Tani, S. et al. Stick-slip motion control based on cutter location data for an orthogonal-type robot. Artif Life Robotics 15, 106–110 (2010). https://doi.org/10.1007/s10015-010-0775-x
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DOI: https://doi.org/10.1007/s10015-010-0775-x