Abstract
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.
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Acknowledgement
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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© 2019 CISM International Centre for Mechanical Sciences
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Chaoui, M.D., Léonard, F., Abba, G. (2019). Improving Surface Roughness in Robotic Grinding Process. In: Arakelian, V., Wenger, P. (eds) ROMANSY 22 – Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 584. Springer, Cham. https://doi.org/10.1007/978-3-319-78963-7_46
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DOI: https://doi.org/10.1007/978-3-319-78963-7_46
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