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Content Provider | SpringerLink |
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Author | Wu, Shuihua Kazerounian, Kazem Gan, Zhongxue Sun, Yunquan |
Copyright Year | 2012 |
Abstract | Robotic belt grinding is an effective process for removing material from geometrically complex workpieces. However, due to the relatively low stiffness of the system, the grinding quality is prone to inaccuracies caused by system dynamics. In order to control the quality of the grinding process, a profound understanding of the system is required. This paper presents a platform for comprehensive modeling and simulation of the robotic belt grinding system. The system kinematics model is based on the CAD model of the workpiece in composition with robot kinematics. The dynamics model is a comprehensive combination of the dynamics of the robot, the grinder, and the interaction between the grinder and the workpiece. A material removal model of the grinding process, which can adapt to workpieces with complicated shapes, is also developed and presented. The system simulation shows that optimal selection of key control parameters of the grinder and proper selection of robot control strategies can efficiently suppress chatter in the grinding process. Furthermore, having the ability to predict material removal rate, the comprehensive simulation platform is also demonstrated to be a strong tool in selecting the grinding process key parameters, namely, robotic velocity and contact force, for the control of material removal to meet dimensional accuracy requirements on workpieces. |
Starting Page | 447 |
Ending Page | 458 |
Page Count | 12 |
File Format | |
ISSN | 02683768 |
Journal | The International Journal of Advanced Manufacturing Technology |
Volume Number | 64 |
Issue Number | 1-4 |
e-ISSN | 14333015 |
Language | English |
Publisher | Springer-Verlag |
Publisher Date | 2012-03-16 |
Publisher Place | London |
Access Restriction | Subscribed |
Subject Keyword | Robotic belt grinding Conformance grinding Industrial and Production Engineering Production/Logistics/Supply Chain Mechanical Engineering Computer-Aided Engineering (CAD, CAE) and Design |
Content Type | Text |
Resource Type | Article |
Subject | Control and Systems Engineering Industrial and Manufacturing Engineering Mechanical Engineering Computer Science Applications Software |
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