Improving Surface Roughness in Robotic Grinding Process
This paper presents an attempt to robotize the grinding process and to overcome grinding vibrations and chattering. The objective is to have a finished workpiece with a high quality of the final surface. In order to achieve that, we started by choosing the right strategy to grind the workpiece that has uneven initial surface. Then, a well-known model of the process is used in order to simulate the grinding of a metallic workpiece. The robot is supposed rigid and does not contribute in the flexibility of the system. The only flexibility that was taken into consideration is that of a pneumatic actuator used to control and reduce vibrations. Its dynamic behavior is approximated using a second degree transfer function.
KeywordsRobotic Grinding Vibration Roughness Modelling
We would like to thank the Robotix Academy, contract number N°002-4-09-001 for funding this work as a part of the project funded by INTERREG V-A Grande Région program.
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