Study of grinding tool profiling for robotic processes

In the fabrication and maintenance of hydroelectric turbines, the reconstruction by grinding of certain high-curvature surfaces such as junctions has not yet been robotized and must now be done manually. The problem is related to the very fast grinding wheel wear and the difficulty in controlling the position and orientation of the robot's grinder to adjust to changes in wheel shape. If the grinding wheel orientation is kept constant with respect to the workpiece, wheel-workpiece conformity increases, specific energy increases, the material removal rate drops and glazing of the wheel may occur. This article presents a method for controlling simultaneously the profile of both the workpiece and the grinding wheel. The orientation of the wheel is oscillated to maintain a constant wheel profile throughout its life and thus achieve better control in material removal. Research results provide the basis for robotic grinding tool profiling.