A new automated grinding system is described, using a low powered direct-drive robot arm with a suspension device. To enable the precise grinding system by low powered robot arm in vertical plane, Suspended Robot Grinding System (SRGS) has been developed. This paper presents a low powered suspended robot arm for chamfering operation in industrial plants. SRGS provides many advantages compared to the conventional grinding system in vertical plane. It provides a necessary compensation force against the gravity force and reduces the joint friction. By increasing the suspending force, heavy tool can be manipulated. In order to verify the feasibility of the system, simulations and experiments have been carried out.
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