A simulation platform for optimal selection of robotic belt grinding system parameters
- 610 Downloads
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.
KeywordsRobotic belt grinding Conformance grinding
Unable to display preview. Download preview PDF.
- 4.Chen X, Gong Z, Huang H, Zhou L, Ge SS, Zhu Q (1999) SMART robotic system for 3D profile turbine vane airfoil repair. Int Conf Int Associ Ind Autom 21(4):275–283Google Scholar
- 6.Sun Y (2004) Development of a unified flexible grinding process. Ph.D. Thesis. University of ConnecticutGoogle Scholar
- 8.Zhang X, Cabaravdic M, Kneupner K, Kuhlenkoetter B (2004) Real-time simulation of robot controlled belt grinding processes of sculptured surfaces. Int J Adv Robot Syst 1:109–114Google Scholar
- 9.Cabaravdic M, Kuhlenkötter B (2005) Bandschleifprozesse optimieren. Metalloberfläche 59:44–47Google Scholar
- 12.Paul RP (1981) Robot manipulators: mathematics, programming, and control. MIT Press, CambridgeGoogle Scholar
- 14.Johnson KL (1987) Contact mechanics. Cambridge University Press, CambridgeGoogle Scholar
- 16.Wu S (2012) Robotic conformance grinding: modeling, control and optimization. Ph.D. Thesis. University of Connecticut (to be presented)Google Scholar
- 18.Kazerounian K, Gupta K (1985) A target tracking manipulation theory for robots. Proceedings of the IASTED International Symposium Robotics and Automation 263–267Google Scholar