Force control-based vibration suppression in robotic grinding of large thin-wall shells |
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| Affiliation: | 1. School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China;2. China Academy of Space Technology, Beijing 100094, China;1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;2. Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China;3. University of Chinese Academy of Sciences, Beijing 100049, China;4. School of Mechanical Engineering & Automation, Northeastern University, Shenyang 110819, China;1. College of Mechanical and Vehicle Engineering, Chongqing University, No.174, Shazhengjie, Shapingba, Chongqing 400044, China;2. The State Key Laboratory of Mechanical Transmissions, No.174, Shazhengjie, Shapingba, Chongqing 400044, China;1. Hubei Key Laboratory of Advanced Technology for Automotive Components, Wuhan University of Technology, Wuhan 430070, China;2. Hubei Collaborative Innovation Center for Automotive Components Technology, Wuhan University of Technology, Wuhan 430070, China;3. State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074, China;4. Wuxi CRRC Times Intelligent Equipment Co., Ltd., Wuxi 214174, China;1. State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074, China;2. Blade Intelligent Manufacturing Division, HUST-Wuxi Research Institute, Wuxi 214174, China;3. Hubei Key Laboratory of Advanced Technology for Automotive Components, Wuhan University of Technology, Wuhan 430070, China |
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| Abstract: | Vibration suppression is a major difficulty in the grinding of low-stiffness large thin-wall shells. The paper proposes that effective workpiece vibration control can be performed by a novel force-controlled end-effector integrated into a robotic grinding workcell. First, a dynamics model is built to capture the characteristics and vibration suppression mechanism of force control-based robotic grinding, then a novel force control-based vibration suppression method is designed for grinding large thin-wall shells, and three robotic grinding tests are conducted to validate the effects of the new method and the grinding performance of the force control-based robotic grinding workcell. The results are: 75% reduction in the amplitude of workpiece vibration; effective suppression of non-tool passing frequency; stable grinding of large thin-wall shells remarkably enhancing grinding depth up to 0.3 mm per pass, grinding depth error less than ±0.1 mm, and significant improvement of the workpiece surface quality up to Ra=0.762 μm. |
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