Analysis and assessment of robotic belt grinding mechanisms by force modeling and force control experiments

Zhu, Dahu; Xu, Xiaohu; Yang, Zeyuan; Zhuang, Kejia; Yan, Shuicheng; Ding, Han

doi:10.1016/j.triboint.2017.12.043

Cited by 82 publications

(24 citation statements)

References 34 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Some related study has shown that the constant grinding force combined with the optimal process parameters is quite suitable for belt grinding of complex surfaces. 21,22,26,32 In the process of machining, the change of speed v s or v w does not adversely affect the surface of the workpiece while the change of F n will cause impact in the contact area, leaving large marks on the machined surface. The phenomenon of over- and under-cutting of the workpieces can also be avoided by a constant normal force.…”

Section: Constant Force Grindingmentioning

confidence: 99%

“…The phenomena of over- and under-grinding was avoided, and Ra was reduced to half from an average value of 0.744 to 0.335 µm when the force control technology was applied. Zhu et al 32 analyzed and assessed the robotic belt grinding mechanisms. Experiments of belt grinding with constant contact force are conducted to validate the practicality and effectiveness of force control.…”

Section: Constant Force Grindingmentioning

confidence: 99%

See 1 more Smart Citation

Investigation of the effect of abrasive belt constant force grinding based on mechanical decoupling tool system

Guohong

Zhao

Wang

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part B:

View full text Add to dashboard Cite

In the abrasive belt grinding process, there are factors affecting the machining stability, efficiency, and quality. Based on the analysis of the grinding process, the normal force in the contact area between the abrasive belt and the workpiece is a major factor. By comparing constant force and non-constant force grinding, the results imply that keeping the grinding force constant will achieve desired material removal and better surface quality. The phenomenon of over- and under-cutting of the workpieces can also be avoided by a constant normal force. In this article, a controllable and flexible belt grinding mechanism accompanied with a mechanical decoupling control strategy is built and tested. Afterward, a detailed comparison is made between the traditional force-position coupling system and the proposed decoupling control system. The proposed control system suppresses the interference between the position and force control systems. The contact force is directly measured and controlled without detecting the position of other components in the tool system. The complexity of the control system is thereby reduced. Finally, several grinding experiments are carried out. The standard deviation and coefficient of variation of the measured normal force are kept within 0.25 and 0.02, respectively. The experiment results reveal that the mechanical decoupling system performs well in force control compared with the traditional force-position coupling system. In addition, the surface roughness Ra < 0.4 μm, the surface quality of the workpiece is improved significantly with the constant force controller.

show abstract

Section: Constant Force Grindingmentioning

confidence: 99%

Section: Constant Force Grindingmentioning

confidence: 99%

Investigation of the effect of abrasive belt constant force grinding based on mechanical decoupling tool system

Guohong

Zhao

Wang

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part B:

View full text Add to dashboard Cite

show abstract

“…These methods can improve the machining quality of workpieces to some extent. Some related studies have shown that by controlling the required grinding force, the material removal rate can be indirectly controlled to improve the processing quality of the workpieces, and the phenomenon of over- and under-cutting of the workpieces caused by an improper contact force can thereby be avoided [10]. These findings indicate that controlling the normal contact force is also the key to improving the grinding quality of abrasive belt.…”

Section: Introductionmentioning

confidence: 99%

“…In terms of force control effect, when Zhang et al [19] used a hybrid passive/active force control scheme to grind a tap, the normal grinding force accuracy is under ±5 N. The surface roughness of the machined workpiece in [25] which only employed the robot grinding trajectory planning is 1.189 μm. Zhu et al [10] combined force control algorithm to grind workpiece, and the values of surface roughness are 0.352 μm and 0.374 μm.…”

Section: Introductionmentioning

confidence: 99%

An Adaptive Sliding-Mode Iterative Constant-force Control Method for Robotic Belt Grinding Based on a One-Dimensional Force Sensor

Zou

2019

Sensors

View full text Add to dashboard Cite

To improve the processing quality and efficiency of robotic belt grinding, an adaptive sliding-mode iterative constant-force control method for a 6-DOF robotic belt grinding platform is proposed based on a one-dimension force sensor. In the investigation, first, the relationship between the normal and the tangential forces of the grinding contact force is revealed, and a simplified grinding force mapping relationship is presented for the application to one-dimension force sensors. Next, the relationship between the deformation and the grinding depth during the grinding is discussed, and a deformation-based dynamic model describing robotic belt grinding is established. Then, aiming at an application scene of robot belt grinding, an adaptive iterative learning method is put forward, which is combined with sliding mode control to overcome the uncertainty of the grinding force and improve the stability of the control system. Finally, some experiments were carried out and the results show that, after ten times iterations, the grinding force fluctuation becomes less than 2N, the mean value, standard deviation and variance of the grinding force error’s absolute value all significantly decrease, and that the surface quality of the machined parts significantly improves. All these demonstrate that the proposed force control method is effective and that the proposed algorithm is fast in convergence and strong in adaptability.

show abstract

“…Flexible-base abrasive tools can be used to machine round outer and inner surfaces, flat surfaces, and complex (including curved) surfaces of workpieces [ 15 , 16 , 17 ], including large castings, forgings, sheets, and strips; long-length pipes of various diameters, cam shafts and crankshafts, small workpieces, bearings, and rollers; and household items, including knives, forks, and spoons [ 18 , 19 , 20 , 21 ].…”

Section: Introductionmentioning

confidence: 99%

A Study on the Machinability of Steels and Alloys to Develop Recommendations for Setting Tool Performance Characteristics and Belt Grinding Modes

et al. 2020

View full text Add to dashboard Cite

This article presents a methodology for designing belt grinding operations with grinding and lapping machines. It provides the results of a study on the machinability of various steels and alloys with belt grinding, which are then classified according to an indicator that we have developed. Namely, cast aluminum alloys, structural alloy steels, structural carbon steels, corrosion-resistant and heat-resistant stainless steels, and heat-resistant nickel alloys have been investigated. The machinability index is the ratio of the performance indicators of the grinding belt and the depth of cut to the indicators of grade 45 structural carbon steels (similar to steel AISI 1045) and similar steels and alloys. The performance indicators of the grinding belt are chosen from a set of calculated and estimated indicators. Experimentally determining the dependences of the performance indicators on the belt grinding modes and conditions, taking into account the established levels of machinability, allowed us to develop recommendations for designing belt grinding operations with grinding and lapping machines. The proposed methodology for designing belt grinding operations guarantees optimal performance and ensures that the necessary quality of the machinable surfaces is achieved. At the same time, it takes into account variable machining conditions, which change within specified limits.

show abstract

Analysis and assessment of robotic belt grinding mechanisms by force modeling and force control experiments

Cited by 82 publications

References 34 publications

Investigation of the effect of abrasive belt constant force grinding based on mechanical decoupling tool system

Investigation of the effect of abrasive belt constant force grinding based on mechanical decoupling tool system

An Adaptive Sliding-Mode Iterative Constant-force Control Method for Robotic Belt Grinding Based on a One-Dimensional Force Sensor

A Study on the Machinability of Steels and Alloys to Develop Recommendations for Setting Tool Performance Characteristics and Belt Grinding Modes

Contact Info

Product

Resources

About