1A1-V11 Development of Finishing Process Support System via Grinding Force Control Based on Hand Stiffness Estimation(Cooperation between Human and Machine(1))

Abstract

In high-variety low-volume manufacturing, parts are typically processed by handwork in order to minimize production cost and lead time. However, when a precise finishing process is required, handwork has problems of processing error and insufficient processing accuracy. To address these problems, we developed a fixture-type machining support robot with a parallel link system, and propose grinding force control based on hand stiffness estimation as the finishing process support system.