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A simulation platform for optimal selection of robotic belt grinding system parameters

  • Shuihua WuEmail author
  • Kazem Kazerounian
  • Zhongxue Gan
  • Yunquan Sun
ORIGINAL ARTICLE

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.

Keywords

Robotic belt grinding Conformance grinding 

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Copyright information

© Springer-Verlag London Limited 2012

Authors and Affiliations

  • Shuihua Wu
    • 1
    Email author
  • Kazem Kazerounian
    • 1
  • Zhongxue Gan
    • 2
  • Yunquan Sun
    • 2
  1. 1.Department of Mechanical EngineeringUniversity of ConnecticutStorrsUSA
  2. 2.InterSmart Robotic Systems Co. LtdLangfangChina

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