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a bstract A strategy to improve industrial finishing applications using commercial robotic arms is presented in this paper. An end-effector is designed and prototyped as the mini manipulator, and is mounted at the end-point of a commercial robotic arm to form a macro-mini manipulator system. The developed end-effector has properties of fast response and high resolution in position control and force control. Position based force/impedance control algorithms of the end-effector are introduced, targeting on applications of polishing and deburring. Experiments are conducted by employing the integrated macro-mini manipulator system and the results are presented.

The notion of hand or touch of the fabric depends on several parameters starting with the raw material ending with the finishing techniques and treatments. Several treatments of finishing, accomplished on fabric have an effect on its handle. The purpose of this study is to estimate the effect of two finishing processes and softening treatment on the Denim fabric handle. The first one is a normal finishing, the second is a fifties finishing. A trained panel assessed the tactile sensory properties of treated denim fabrics. This panel took part in a training program. During this program, the panellists’ performance in terms of repeatability was controlled to decrease the variability of the provided measurements. This panel assessed 16 sensory attributes already selected to find out the differences between the treated samples. The results of sensory evaluation were studied using the principal components analysis (PCA) and analyse of variance (ANOVA). According to the results, the change of denim fabric handle is more important in the case of fifties finishing than the normal finishing processes. This study also shows that the effect of softener is more legible on case of fifties finishing and the low concentration of fabric softener did not influenced the handle of denim fabric. This paper identifies the most important tactile sensory properties which are influenced by industrial finishing’s for the denim fabric. This paper represents as well the handle progressive changes that occur on treating the denim fabric with various finishing.

Robot force control is useful in industrial finishing applications such as polishing and deburring. The standard position-based force control method involves an integrator in the controller, and is usually slow in response and has stability issue. A force control method with positive feedback is proposed in this paper. Theoretical analysis and experimental results show that it has significant improvements compared with conventional integral force control method. The proposed method is implemented in a self-developed end-effector and deburring experiment is conducted on a workpiece. Results show that the performance of the robot manipulator meets the industry requirements and the outcome is more consistent compared with human operators.

Joint implants have as bearing couples metal on metal, ceramic on metal and metal on polyethylene. The most widely used bearing couple for artificial joint systems is the combination of a polyethylene (PE) acetabular liner and a cobalt–chromium (Co–Cr) alloy femoral head. Although highly used, it is known that wearing of the polyethylene part of total joint implants is the primary cause of premature failure of total joint replacements [1]. Polyethylene particles tend to migrate into the joint creating inflammation, ostelysis and, in the end the loss of the implant. Industrials use different method for the surface finishing process of the polyethylene part of joint implants that lead to different types of surface morphologies. In this study, using atomic force microscopy technique and tribological methods, we have investigated the influence of polyethylene surface morphology on mechanical properties, degradation and friction. Results have shown that polyethylene surfaces obtained by high speed turning machine lead to low friction coefficient and less degradation of the surface during friction test.

The principal purpose of this work is to study the dimensional stability of cloth upon seaming, particularly after finishing treatments. This study is carried out on denim blue jean fabrics with different structures which are transformed into pants. Various types of assembling are used, such as safety stitch, felled seam and lockstitch. The sewing operation is carried out with the same parameters: the stitch type, stitch density per centimeter, and sewing thread count and composition. The garment shrinkage is influenced by several parameters, such as the type of assembling and the industrial finishing treatment. The results show that the type of industrial seaming, resin treatment and special treatment as well as their succession has a significant effect on garment shrinkage. There is more shrinkage in the garment assembled with a flat-felled seam than that with a safety stitch. The difference can reach 57.8% if the garment is treated with mixed methods, such as washing and chemical special treatment. Moreover, the shrinkage measured on the waist or hem is less than that measured on the legs. Finally, the shrinkage due to the type of assembling in the warp direction is more than that in the weft direction.

A parallel mechanism has advantages such as high stiffness, low inertia and compact in size. It is a desired mechanical structure to be used as the mini manipulator in a macro-mini manipulator system. In this paper, a 3-DOF parallel mechanism is presented. The end-effector module will serve as the mini manipulator in a macro-mini system for in-contact industrial finishing applications such as polishing and deburring. Mechanical design for the end-effector module takes account of both the desired properties for a mini manipulator as well as the nature of the industrial applications. The end-effector can be controlled to perform different tasks including position and force controlled ones with a high accuracy and fast response.

Calendering of paper is an industrial finishing process designed to smoothen its surface so as to improve gloss as well as printability. In this article, we describe how calendering affects paper roughness on both microscopic and macroscopic length scales. We also discuss how these modifications relate to the morphology of the fibers composing the paper sheets. The characterization of the surface is carried out using an optical profilometer and two different species of fibers, as well as their mixture, are used. We first show that calendering induces modifications of the surface on all length scales measured and that these modifications are related by straightforward transformations. We also show that these results hold for papers formed from a mixture of fibers.

PurposeAutonomous robot‐based finishing of surfaces with a reduction of the programming effort can be achieved by teaching the desired trajectory locally in the object reference frame. Thus, the flexibility of the programmed task increases and also moving surfaces can be finished. This paper aims to focus on this control concept.Design/methodology/approachThe developed concept relies both on the use of a new slip sensor which is able to measure relative motion between the robot end‐effector and the machined object surface as well as on a continuous slip and force control algorithm. First experimental results were used to validate the concept.FindingsThe presented results were promising enough to encourage the application of the proposed concept scheme in connection with the slip sensor in industrial finishing applications.Research limitations/implicationsThe first investigations provide a basis for the development of more accurate software solutions in order to optimise the performances of the slip sensor.Practical implicationsThe developed slip sensor provides a cheap and flexible solution for measuring relative motion between tool and surface. Combined with the use of a force sensor, the proposed scheme can be introduce more autonomy in industrial application like polishing or deburring.Originality/valueThe paper introduces a novel slip and force control concept for coping with the industry requirement of introducing more automation in the finishing of surfaces. Such a control concept allows on one hand the finishing of moving parts and at the same time increases the flexibility of the programming and reduces the user effort.

Good quality of surface finishing requires accurate control of tool positioning, as well as of contact forces. Various position and force control strategies have been applied to robotized finishing processes in industries. This paper reviews the control strategies applicable to robotic finishing operations, highlighting the benefits and limitations. Finally, adaptive force/impedance control architecture and its potential implementation on new generation compliant robots are briefed.

In the field of environmentally friendly coatings waterborne two-component polyurethane systems represent a new technology, combining the good film properties of solventborne two-component polyurethane coatings with the low VOC values of waterborne technology. Recently, waterborne two-component polyurethane coatings have matured to the point that they offer realistic alternatives to the corresponding solventborne systems in various application fields. For industrial finishing and automotive refinish we are introducing rapid drying coatings exhibiting well-balanced range of properties at low VOC level. We developed high-performance OEM-clearcoats which combine good chemical resistance with excellent mar resistance. Waterborne soft-feel lacquers are already well established in the market. Development of a new generation of water dispersible polyisocyanates as well as improvements in application technology have contributed substantially to this. Additionally, progress in understanding the fundamental principles of aqueous two-component-PUR systems like side reactions during pot life and film formation or the cause of blistering supported our developments. We expect that waterborne two-component polyurethane coatings will gain a significant share of the market where high-performance coatings are demanded.

This study summarizes the results of industrial hygiene surveys performed between 1979 and 1987 in paint manufacturing and application operations using polyurethane coatings containing hexamethylene diisocyanate (HDI) and HDI-based polyisocyanates (trade name Desmodur N). A total of 466 Desmodur N and 457 HDI samples were collected from 47 operations most of which were in application. The application surveys covered manufacture and refinishing of transportation vehicles, painting of large military and civilian equipment, industrial finishing operations, and maintenance and construction operations. The primary objective of the surveys was to assess the potential exposure to HDI and HDI-based polyisocyanate. In more than 60% of the surveys, concentrations of airborne organic solvents also were monitored. Isocyanates were sampled using toluene/nitroreagent in midget impingers, and solvents were collected using charcoal tubes. They were analyzed using high pressure liquid chromatography and gas chromatography, respectively. The data from these workplace situations show there is some potential for isocyanate overexposure of unprotected workers and that it is greater in spray than in nonspray operations.

(1973). Future Plant Developments in Industrial Finishing. Transactions of the IMF: Vol. 51, No. 1, pp. 188-190.

An optical method for measuring marble and limestone surface finish is described. This method is capable of ordering the different varieties of rocks subjected to the same industrial finishing process consistent with an arrangement made by an average human observer. The measure of finish is defined as the ratio between the specularly reflected luminous flux from a sample and the total diffused light.

This is essentially a method of producing hard‐cured films from a liquid coating, where the solvent has been removed and replaced by a liquid monomer. This reaction is instigated by a free radical mechanism induced by either electron‐beam or more generally by ultra‐violet radiation.

Crown's parent is of course part of Reed International, itself an industrial as well as consumer‐orientated company. And Crown ‘mirrors’ Reed. It has an industrial arm which is equally vigorous and just as successful in its own markets as Crown's retail arm is in the consumer market. We have been closely identified with many outstanding developments in industrial finishing technology over the years. For instance, in print finishing, the lamination of oriented polypropylene film to board is made possible by adhesives first developed and marketed by Crown which are now the standards by which all other film‐to‐board laminating adhesives are measured. Or take coil coating, the art of prefinishing metal. Crown is a founder member of the European Coil Coating Association and probably supplies more coatings to this industry than any other UK paint supplier. So we are old hands at industrial finishing — and at supplying ‘state‐of‐the‐art’ high technology finishes.

Introduction The range of rapid, non‐destructive liquid cleaning systems available to industrial finishing processors as a primary means of surface pre‐treatment is continuously widening, and moreover, are also the measures being taken to automate and programme the work handling requirements of such systems. Indeed, the latest technique adopts microprocessor technology for programming the moving of baskets of components and so put an end to the manual tedium and inefficiency of moving baskets of components through a series of cleaning and finishing stages in a multi‐stage cleaning and drying plant.

An optical method to measure granite surface finish is described. This method is capable of ordering the different varieties of granite subjected to the same industrial finishing process consistently with an arrangement made by an average human observer. The measure of finish is defined as the ratio between the specularly reflected luminous flux from a sample and the total diffused light. Some recommendations for the standardization of measurements are given.