摘要：This study investigates the characteristics of helical abrasive brush filaments and aims at developing a mobile robot system to perform rust removal and polishing tasks. A finite element model that can analyze the filament deformation and force characteristics is presented. From the model, the relationships between the brushing force and other operating parameters can be predicted, which are essential for developing an autonomous brushing control system. The modeled results are compared with experimental results carried out on a specifically designed test rig, leading to considerably well converged comparisons. Many later studies can be carried out to develop optimal brush control strategies for autonomous rust removal or polishing tasks.
关键词：Abrasive brush; abrasive end effector; helical filament; finite element modeling
