Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
414606 | Robotics and Computer-Integrated Manufacturing | 2009 | 7 Pages |
Abstract
Robotic belt grinding operations are performed by mounting a workpiece to the end effector and commanding it to move along a trajectory while maintaining contact with the belt grinding wheel. A constant contact force throughout the grinding process is necessary to provide a smooth finish on the workpiece, but it is difficult to maintain this force due to a multitude of installation, manipulation, and calibration errors. The following describes a novel methodology for robotic belt grinding, which primarily focuses on system calibration and force control to improve grinding performance. The overall theory is described and experimental results of turbine blade grinding for each step of the methodology are shown.
Related Topics
Physical Sciences and Engineering
Computer Science
Artificial Intelligence
Authors
Yunquan Sun, David J. Giblin, Kazem Kazerounian,