Contact analysis and control of robotic spinning-inflated-gasbag polishing technique on mould surface

A robotic gasbag polishing technique based on flexible polishing principle can make polishing process more stable and effective because the rubber provides cushioning action and almost all abrasive powders in the contact area are involved in the process of material removal on mould surface. Finite element method using Mooney-Rivlin constitutive model is adopted to obtain a referenced result of contact force and stress field between rubber gasbag and mould surface. The simulation result can provide support to the research of ideal abrasive particle field, the optimization of non-linear problem, as well as the foundation of material removal model. A low-cost pressure control system which consists of two high-speed on-off valves, one sensor, and an embedded system mainly is presented. It adopts the control method of PWM and satisfies the required control accuracy.