A new force-depth model for robotic abrasive belt grinding and confirmation by grinding of the Inconel 718 alloy |
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| Affiliation: | 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. 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. School of Mechanical and Electrical Engineering, Shenyang Aerospace University, Shenyang 110136, China;1. School of Mechanical and Automotive Engineering, Xiamen University of Technology, Xiamen, 361024, China;2. State Key Laboratory of Ultra-precision Machining Technology, Department of Industrial Systems and Engineering, The Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong, China;3. National Synchrotron Light Source II (NSLS-II), Brookhaven National Laboratory, PO Box 5000, Upton, NY, 11973, USA;4. Department of Automation, Tsinghua University, Beijing, 100084, China;5. School of Aeronautics and Astronautics, Xiamen University, Xiamen, 361005, China;6. Shanghai Engineering Research Center of Ultra-Precision Optical Manufacturing, School of Information Science and Technology, Fudan University, Shanghai, 200438, China;7. Key Laboratory for Precision and Non-traditional Machining Technology of Ministry of Education, Dalian University of Technology, Dalian, 116024, China;8. College of Engineering and Physical Sciences, Aston University, Birmingham, B47ET, UK;1. Hunan Provincial Key Laboratory of High Efficiency and Precision Machining of Difficult-to-cut Materia, Xiangtan 411201, Hunan Province, China;2. Hunan University of Science and Technology, Xiangtan 411201, Hunan Province, China;3. Huaqiao university, Xiamen 361005, Fujian Province, China;4. SAIC Volkswagen Changsha Branch. Changsha 410000, Hunan Province, China |
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| Abstract: | Robotic abrasive belt grinding has been successfully applied to the grinding and polishing of aerospace parts. However, due to the flexible characteristics of robotic abrasive belt grinding and the time-varying characteristics of the polishing contact force, as well as the plastic and difficult-to-machine material properties of Inconel 718 alloy, it is very difficult to control the actual removal depth and force of the polished surface, which brings great challenges to robot automatic polishing. Therefore, the relationship between the grinding force and the grinding depth in the robotic abrasive belt grinding is analyzed in detail, the robot machining pose error model considering the deformation of the grinding head is established, and the Inconel 718 alloy machining experiment of the robotic abrasive belt grinding is designed. The mapping relationship between the grinding force and the grinding depth is obtained, and the grinding force ratio in the downgrinding and upgrinding mode is discussed. The experimental and theoretical comparisons results show that with the increase of the grinding depress depth, both the grinding depth and the grinding force show an irregular increasing trend, and the increasing trend of the grinding force (increases by about 344.44%–445.45%) is obviously greater than that of the grinding depth (increases by about 52.94%). When the grinding depress depth is large (greater than 3 mm), the feed direction force and the normal force appear obvious secondary pressure peaks at the beginning and end of grinding, which has not been seen in previous studies. In addition, regardless of whether it is downgrinding or upgrinding, the grinding force ratio decreases with the increase of the depress depth, and the grinding force ratio of downgrinding (average 0.668) is smaller than that of upgrinding (average 0.724). This study provides a reference for robotic abrasive belt grinding, and the surface quality of Inconel 718 alloy of robotic abrasive belt grinding can be further improved through the optimization of force and depth. |
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