60631 20250912141054.0 doi 10.5772/61251 sideral 97985 ART-2015-97985 eng Fernández, Ángel Universidad de Zaragoza (orcid)0000-0002-0544-0182 Surface Roughness Evolution Model for Finishing Using an Abrasive Tool on a Robot 2015 Access copy available to the general public Unrestricted The polishing process is the final step in the manufacturing workflow for many parts and tools. While previous tasks have evolved technically, the finishing of freeform surfaces is still effected mostly by hand. Many parts are rejected because no control of the process is possible. The main problems are geometrical shape deviations and no repeatability of the process. A new methodology has been developed for the passes of the abrasive on the polished part. This research focusses on the feasibility of robotic polishing and the development of a new evolution model pertaining to the surface roughness for an abrasive tool mounted on a spherical robot. The polishing principle is mechanic and based on dry friction. The tool is multilayered with a compressive foamed core. The combination of rotational and translational movement requires the creation of a model that can predict the footprint on the polished surface. The mathematical model developed for the evolution model permits for making a prediction of the final surface quality in the function of the programmed polishing parameters. Furthermore, the model described allows for setting up polishing parameters in order to reach a desired final roughness with less than 15% deviation. Repeatability is assured and polishing time is reduced down to 1/5 of manually effected procedures. info:eu-repo/grantAgreement/ES/MINECO/PT-020000-2010-034 info:eu-repo/semantics/openAccess by http://creativecommons.org/licenses/by/3.0/es/ 0.615 2015 ROBOTICS 19 / 25 = 0.76 2015 Q4 T3 0.346 2015 Artificial Intelligence 2015 Q3 Software 2015 Q3 Computer Science Applications 2015 Q3 info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion Dieste, José Antonio Universidad de Zaragoza (orcid)0000-0001-7178-4285 Javierre, Carlos Universidad de Zaragoza (orcid)0000-0002-8008-4819 Santolaria Mazo, Jorge Universidad de Zaragoza (orcid)0000-0001-7316-0003 5004 545 Universidad de Zaragoza Dpto. Ingeniería Mecánica Área Ingeniería Mecánica 5002 515 Universidad de Zaragoza Dpto. Ingeniería Diseño Fabri. Área Ing. Procesos Fabricación 9, 12 (2015) Int. j. adv. robot. syst. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 1729-8806 4226545 http://zaguan.unizar.es/record/60631/files/texto_completo.pdf Versión publicada 10355 http://zaguan.unizar.es/record/60631/files/texto_completo.jpg?subformat=icon icon Versión publicada oai:zaguan.unizar.es:60631 articulos driver 2025-09-12-14:09:33 ARTICLE