Robot compliance principle 歌 Z-axis AO TC movement Workpiece Tool Abrasive Contact motor belt wheel R2KLS F=RKiLo+ R Spring Df D R1=D1 Rs=D D D: K:spring stiffness Displacement Lo:spring displacement due Tension Sensor(S) to preloading wheel MT333 Materials Applications Practice Prof.XiaoQi Chen C.11 Robot Compliance implementation O TONG UNN MT333 Materials Applications Practice Prof.XiaoQi Chen C.12 ☑MT333 Materials Applications C.11 & Practice Prof. XiaoQi Chen Df Dt Tool motor Spring Displacement Sensor (S) Tension wheel Workpiece Contact wheel Z-axis movement Abrasive belt Ds F R K L S s l l R R K l l 2  0  t f D D Rl  t s D D Rs  Kl : spring stiffness L0: spring displacement due to preloading Robot compliance - principle MT333 Materials Applications C.12 & Practice Prof. XiaoQi Chen Robot Compliance - implementation