In this study, an existing superfinishing method used for polishing glass surfaces was refined using a five-joint closed-link compact robot with fixed abrasive grains. In previous studies, a voice coil motor was used to control the constant-pressure pressing force while maintaining the polishing force for a relatively short period. However, maintaining the polishing force for long periods is imperative for achieving a high-quality polished surface. Thus, in this study, a strain gauge load cell was adopted in addition to a conventional piezoelectric force sensor to maintain the polishing force for a long period. First, the amounts of DC drift of the piezoelectric force sensor and strain gauge type load cell were compared to confirm the necessity of signal processing as well as the compatibility of long-term force measurement and high-frequency vibration measurement by application. Further, a method was proposed in which the change in the pressing force was recorded from the connected sensor; when the pressing force fluctuated, chatter vibrations were determined to occur, and the pressing force was temporarily set to 0 N. This method could obtain a better polished surface than the proportional-integral-differential (PID) control, which simply controls the pressing force at a constant value. Finally, chatter vibrations could be determined by detecting high-frequency sounds using a sound level meter. Notably, a finely polished surface could be obtained.

1. [1] Ministry of the Environment Government of Japan, “Annual Report on the Environment in Japan 2022,” White Paper & Statistics of Ministry of the Environment, 2022.
2. [2] European Council, Council of the European Union, “Fit for 55,” European Policies, European Green Deal, 2021.
3. [3] United States Environmental Protection Agency, “Proposed Rule; Multi-Pollutant Emissions Standards for Model Years 2027 and Later Light-Duty and Medium-Duty Vehicles,” United States, Regulations for Emissions from Vehicles and Engines, 2022.
4. [4] K. Ogawa, T. Hirogaki, S. N. Melkote, and S. Ogawa, “A Process Decision Making Strategy Based on Sustainability Evaluation,” Int. J. Automation Technol., Vol.9, No.1, pp. 51-58, 2015. https://doi.org/10.20965/ijat.2015.p0051
5. [5] Y. Umeda, “Special Issue on Design and Manufacturing for Environmental Sustainability,” Int. J. Automation Technol., Vol.16, No.6, p. 683, 2022. https://doi.org/10.20965/ijat.2014.p0625
6. [6] United Nations, “Sustainable Development Goals, Decade of Action,” United Nations, DoA Guidelines, 2015.
7. [7] Y. Manabe, H. Murakami, T. Hirogaki, E. Aoyama, and T. Furuki, “Mirror-Surface Finishing by integrating Magnetic-Polishing Technology with a Compact Machin Tool,” Int. J. Automation Technol., Vol.13, No.2, pp. 207-220, 2019. https://doi.org/10.20965/ijat.2019.p0207
8. [8] S. llchev, R. Andreev, and Z. llcheva, “Ultra-Compact Laser Diode Driver for the Control of positioning Laser Units in Industrial Machinery,” IFAC-PapersOnLine, Vol.52, Issue 25, pp. 435-440, 2019. https://doi.org/10.1016/j.ifacol.2019.12.577
9. [9] K. Yoshitomi, Y. Shimada, and A. Une, “Development of High-Speed Rotation Polishing System with Slurry Confinement and Friction-State Control,” Int. J. Automation Technol., Vol.17, No.1, pp. 55-63, 2023. https://doi.org/10.20965/ijat.2023.p0055
10. [10] M. Nomura, N. Makita, T. Fujii, and Y. Wu, “Effects of Water Supply Using Ultrasonic Atomization on the Working Life of MCF Slurry in MCF Polishing,” Int. J. Automation Technol., Vol.13, No.6, pp. 743-748, 2019. https://doi.org/10.20965/ijat.2019.p0743
11. [11] S. Ogawa, S. Okumura, T. Hirogaki, E. Aoyama, and Y. Onchi, “Investigation of Eco-Friendly Fixed-Abrasive Polishing with Compact Robot,” Advanced Materials Research, Vols.126-128, pp. 415-420, 2010. https://doi.org/10.4028/www.scientific.net/AMR.126-128.415
12. [12] W. Wu, Y. Liu, T. Hirogaki, and E. Aoyama, “Investigation of Glass Polishing Motion Based on Micro-Oscillationg Pressing Force with a Compact Robot and Fine Diamond Stone,” Periodical of Advanced Materials Research, Vol.1017, pp. 129-134, 2014. https://doi.org/10.4028/www.scientific.net/AMR.1017.129
13. [13] United States Environmental Protection Agency, “EPA Releases First Major Update to Chemicals List in 40 Years,” United States, EPA Chemical Safety and Pollution Prevention (OCSPP), 2019.
14. [14] United Nation, “Globally Harmonized System of Classification and Labelling of Chemicals (GHS Rev. 9, 2021),” United Nations, Dangerous Goods, 2021.
15. [15] R. Yonemoto, T. Hirogaki, and E. Aoyama, “Development of abrasive super finishing method with a five-axis closed-link compact robot and fine diamond stone,” Proc. of the 20th Int. Conf. on Control, Automation and Systems (ICCAS), pp. 88-93, 2020. https://doi.org/10.23919/ICCAS50221.2020.9268272
16. [16] J. D. Byerlee, “The mechanics of stick-slip,” Tectonophysics, Vol.9, No.5, pp. 475-486, 1970. https://doi.org/10.1016/0040-1951(70)90059-4
17. [17] A. Sueoka, Y. Kanemitsu, and T. Kondo, “Kikai shindougaku,” Asakura Publishing, 2008 (in Japanese).
18. [18] K. Mehmood, N. I. Chaudhary, Z. A. Khan, K. M. Cheema, M. A. Z. Raja, A. H. Milyani, and A. A. Azhari, “Dwarf Mongoose Optimization Metaheurististics for Autoregressive Exogenous Model Identification,” Mathematics, Vol.10, Issue 20, Article No.3821, 2022. https://doi.org/10.3390/math10203821
19. [19] X. Jin and B. Huang, “Robust identification of piecewise/switching autoregressive exogenous process,” AIChE, Vol.56, No.7, pp. 1829-1844, 2010. https://doi.org/10.1002/aic.12112
20. [20] B. Delcroix, J. L. Ny, M. Bernier, M. Azam, B. Qu, and J.-S. Venne, “Autoregressive neural networks with exogenous variables for indoor temperature prediction in buildings,” Building Simulation, Vol.14, pp. 165-178, 2021. https://doi.org/10.1007/s12273-019-0597-2