Robotic testing bench for modelling surface polishing processes

Abstract

Surface treatment using robots has become a common task in industry, particularly when dealing with large areas. Operations such as matting, polishing, or sanding are typically performed using abrasive sponges that move along the surface. This work presents the design of an experimental platform aimed at studying automated polishing with a collaborative robotic manipulator. A KUKA LBR iiwa 14 robot has been integrated with a force sensor and a sponge-based polishing tool to replicate real working conditions on flat surfaces. Through several experimental trials, forces, torques, and joint states are recorded to analyse the mechanical behaviour of the sponge during the compression and lateral movement phases. The results will provide a basis for modelling the force–penetration relationship, as well as for estimating parameters such as stiffness, damping and friction coefficient. The platform enables future developments including testing on curved surfaces, incorporating liquid abrasives, and implementing advanced force control strategies. This work represents an initial experimental approach toward the optimization of robotic polishing processes.