Engineering Commons^™

Force/Position Hybrid Control Method For Surface Parts Polishing Robot, Yufeng Ding, Xinpu Min

Journal of System Simulation

Abstract: A force/position hybrid control method for polishing the complex surface with an industrial robot is put forward. The method can achieve the stable force control and precise position control to ensure the consistency of the material removal rate at different normal vectors. After the trajectory of the normal vector is planned in CAD software, the force signal feedback from the sensor and the PI controller in the normal vector direction are combined,and the robot end tool corrects the motion trajectory in the vector direction of the surface to indirectly control the contact force between the tool and the surface. …

Evaluating The Polishing Of Skid Aggregates In Asphalt Using The British Pendulum Tester, Allison Nicole Givens

Graduate Theses, Dissertations, and Problem Reports

To ensure the pavements in West Virginia have adequate skid resistance the Division of Highways evaluates and approves skid resistant aggregate sources for all wearing courses on roads with an ADT of 3,000 or greater. Unfortunately, the supply of skid aggregates in West Virginia is depleting quickly. To find a potential alternative to using skid resistant aggregates, laboratory polishing of asphalt samples was performed using a Circular Track Polishing Machine, and friction was tested using a British Pendulum Tester. The experiment was designed to investigate how a specific aggregate type provides skid resistance to a hot asphalt mixture.

The objective …

Procedure For Asphalt Mixture Friction Evaluation For Wvdoh, Danielle Marie Hoyer

Graduate Theses, Dissertations, and Problem Reports

Monitoring asphalt skid resistance in the laboratory could aid in improved friction prediction capabilities and provide insight for developing alternative asphalt mixture designs in the future. The West Virginia Department of Highways (WVDOH) sought the design of a laboratory accelerated asphalt polishing machine to further expand on current skid resistance measurement practices. The design is modeled after the North Carolina State University (NCSU) polishing machine detailed in ASTM E660. The purpose of this research was to develop a testing procedure for the polishing equipment. Friction was monitored with the British Pendulum Tester (BPT) according to ASTM E303.

Specimens were prepared …