Time-varying isobaric surface reconstruction and path planning for robotic grinding of weak-stiffness workpieces |
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| Affiliation: | 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. State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074, China;2. Hubei Key Laboratory of Advanced Technology for Automotive Components, Wuhan University of Technology, Wuhan 430070, China;3. Hubei Collaborative Innovation Center for Automotive Components Technology, Wuhan University of Technology, Wuhan 430070, China;4. Blade Intelligent Manufacturing Division, HUST-Wuxi Research Institute, Wuxi 214174, China;5. Wuxi CRRC Times Intelligent Equipment Co., Ltd., Wuxi 214174, China |
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| Abstract: | Severe deformations and vibration usually occur when grinding the weak-stiffness workpieces, then fluctuate the grinding force and damage the surface. In this paper, the time-varying isobaric surface (TVIS) is defined as a virtual surface to generate constant force during robotic grinding. Based on it, a novel robotic grinding method, including contact trial and surface reconstruction, is proposed. In the contact trial process, the robot actively samples the deformation and stiffness of contact point with a force sensor. Then, a TVIS mesh is constructed to replace the original geometry of the workpiece, which is utilized for grinding path planning. Experiments have been conducted to verify the feasibility of this method. The result shows that the proposed method can achieve constant grinding force and is robust to the types of workpieces and the processing techniques. Furthermore, it is considered as an intelligent method for customized robotic machining of the weak-stiffness workpieces. |
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