Application of the Megenetorheological fluids torque-servo device for a compliant polishing technology for rotary surface

Nowadays commonly control methods of compliant polishing can be divided two kinds, one is changing the tool´s direction to adapt the curve surface of parts, another is changing the servo force on the curve surface. But the contradiction between the position-angle and force is hard to solve. In this paper, a compliant control method to position and force by using Megenetorheological fluids (MRF) damper is introduced. Because the MRF damper can output a constant torque which wouldn´t effect by position and angle and could change the value of constant torque, it can be combined with CNC programming technology to form a complete compliant-control system. Experiments on a prototype system shows that it has sufficient stiffness and rapid and stable torque change speed to guarantee a constant polishing pressure and angle during the polishing process of rotary surface.