Calibration Of Robot Grinding System And Abrasives Structure Optimization

Robot grinding system, compared with the traditional manufacturing processes, can playa very important role in improving the blade surface quality and processing efficiency. As weknow, hand polishing is not only a job of low-efficiency and low-quality, but also unhealthyfor workers. With a robot replacing the worker, all these problems can be solved. But due tothe long dimension chain and low stiffness, the position accuracy of a serial robot arm is nothigh, and on the other hand，the processing quality of a belt-grinding, which is used as the endmachining method of a robot grinding system, is affected by many processing parameters, sothis paper will focus on the robot calibration technology and the mechanism of abrasive beltgrinding.First of all, a coordinate system about all the system components is established, and theforward and inverse kinematic models are developed according to the DH method. Amongall the coordinates, the interaction relationship between blade surface frame and belt frame isanalyzed in details. Then a path planning method base on the uv parameters of freeformsurface is presented.Secondly, based on the kinematic model, we study and model the robot grinding systemerror from two aspects: robot geometric error, and clamping error of blade. Then the errorcalibration experiment and blade grinding experiment have been carried out to verify thevalidity of the model. On the other hand, a simulation and analysis of single abrasive grindingforce by using finite element method has been introduced.Finally, to optimize the structure of a grinding tool, which is pre-deformed into a largecurvature surface, the finite element method is induced to search for the best cross-section ofthe tool, and after that a measurement method is designed.