Research on Feed Rate Planning of Rotating Polishing Blades for Industrial Robots

Research on Feed Rate Planning of Rotating Polishing Blades for Industrial Robots | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Research on Feed Rate Planning of Rotating Polishing Blades for Industrial Robots jingjing ZHANG, Zhengzhao Gu, Junqing Wang, jia liu This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-7838402/v1 This work is licensed under a CC BY 4.0 License Status: Under Review Version 1 posted 5 You are reading this latest preprint version Abstract In order to solve the under-polishing problem in the process of complex surface blade rotating polishing, the S-shaped feed velocity planning method based on the blade parting surface area was proposed. Firstly, the improved D-H model of Kawasaki RS020N industrial robot was established, and the robot end pose was solved. The optimal inverse kinematics solution was obtained through the motion cost minimum function, and the inverse solution was verified with Matlab kinematics simulation. Next, the end space velocity and acceleration curves of T-type velocity trajectory planning and S-type velocity trajectory planning were compared. The joint space change curves of T-type and S-type trajectory planning algorithms were analyzed. Finally, the smooth S-shape curve was verified by blade rotational polishing simulation, which effectively solved the phenomenon of under-polishing at the leading and trailing edges of the blade, improved the contour machining accuracy of the blade surface, through experimental verification, it has been effectively reduced the blade surface roughness value, and can effectively avoid the vibration impact of the industrial robot servo motor when the T-shaped curve speed changes , and the polishing process of the industrial robot is more stable. D-H modeling Inverse kinematics solution Matlab simulation T-type velocity planning S-type speed planning Surface roughness Full Text Cite Share Download PDF Status: Under Review Version 1 posted Editorial decision: Major Revisions Needed 12 Jan, 2026 Reviewers agreed at journal 09 Dec, 2025 Reviewers invited by journal 08 Dec, 2025 Editor assigned by journal 14 Oct, 2025 First submitted to journal 11 Oct, 2025 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-7838402","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":557304958,"identity":"b5a36c01-5429-4e85-b40a-8c587a3a7714","order_by":0,"name":"jingjing 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