Improving surface roughness in robotic grinding process
Abstract
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.