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首页> 外文会议>CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators >Improving Surface Roughness in Robotic Grinding Process
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Improving Surface Roughness in Robotic Grinding Process

机译：改善机器人磨削过程中的表面粗糙度

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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.
机译：本文提出了一种重新启动研磨过程并克服研磨振动和抖动的尝试。目的是具有高质量的最终表面的成品工件。为了实现这一目标，我们开始选择正确的策略来研磨初始表面不均匀的工件。然后，使用众所周知的该方法模型，以模拟金属工件的研磨。机器人被认为是刚性的并且在系统的灵活性方面没有贡献。考虑的唯一灵活性是用于控制和减少振动的气动执行器的灵活性。它的动态行为使用二级传递函数近似。

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