Design of a spatial constant-force end-effector for polishing/deburring operations

Bingxiao Ding, Jiyu Zhao, Yangmin Li

Research output: Journal article publicationJournal articleAcademic researchpeer-review


Controlling the contact force on workpieces is a challenging task for industrial deburring operations. To solve this issue, a novel constant force mechanism (CFM) based on the combination of positive and negative stiffness mechanism is proposed by using folding beam and bi-stable beam mechanisms. Without using any additional sensors and control algorithms, the proposed CFM can produce a travel range in constant force manner. In this paper, the design concepts, analytical model, finite element analysis (FEA) simulation and experimental studies are presented and discussed. Firstly, a novel spatial CFM is proposed and the pseudo rigid body (PRB) method is used to establish the mathematical model of the whole mechanism. Then, the FEA simulation is performed to validate the correctness of theoretical analysis. In addition, to eliminate the force variation, particle swarm optimization (PSO) method is utilized to find optimal architectural parameters solutions of the CFM. Finally, the experimental tests are performed to verify the performance of the designed CFM. The configuration design and parameter optimization proposed in this paper can be further applied to the design of other types of CFM mechanisms for polishing operations as well.

Original languageEnglish
Pages (from-to)3507-3515
Number of pages9
JournalInternational Journal of Advanced Manufacturing Technology
Issue number11-12
Publication statusPublished - Oct 2021


  • Compliant mechanism
  • Constant force mechanism
  • Polishing/deburring operation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mechanical Engineering
  • Computer Science Applications
  • Industrial and Manufacturing Engineering

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