Toward the deterministic polishing of free-form surfaces using grid paths based on a six DOF robot

Surface polishing is typically used for the quick fabrication of free-form surfaces. The continuous demand for better quality has led to demand in higher surface accuracy. However, limiting factors are the positioning accuracy of the tool and the accuracy of the manufacturing process. Aiming to apply computer controlled deterministic polishing is studied for the precise fabrication of free-form surfaces of non-gentle curvature and slopes, the smart tool and reasonable tool paths are designed. The work includes the development of a surface polishing station based on a six degree-of-freedom PUMA robot and ways for restricting the uneven removal of material over a surface during polishing.