Novel polishing method of glass materials under ultra-low pressure conditions considering stick-slip phenomena with a five-axes closed-link compact robot and fine diamond stone

In order to reduce the environmental impact of abrasive polishing, we have recently investigated this procedure using a compact robot and fixed-abrasive polishing. We looked at a five-joint closed-link compact robot with a fine diamond stone on its main axis to polish the glass plate. In this method, we measured the chatter vibration in glass polishing motion due to the low stiffness of the robot arm. We also estimated the influence of the change in relative speed on the friction coefficient between the glass plate and the abrasive stone. From these results, we developed a novel polishing method to prevent self-vibration using micro-oscillating pressing force with a voice coil motor. Furthermore, we investigated the chatter vibration by process stick-slip phenomena. As a result, using the proposed method, the surface roughness of the workpiece decreased, and the polishing processes on the glass plate were more stable with a compact robot and a fine diamond stone.