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Conference Papers Year : 2019

Improving surface roughness in robotic grinding process


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.
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Dates and versions

hal-03757564 , version 1 (26-08-2022)



Mohamed Didi Chaoui, François Léonard, Gabriel Abba. Improving surface roughness in robotic grinding process. 22nd CISM IFTOMM Symposium on Robot Design, Dymanics and Control (ROMANSY 22), INSA-Rennes (Institut National des Sciences Appliquées de Rennes); LS2N (Laboratoire des Sciences du Numérique de Nantes), Jun 2018, Rennes, France. pp.363-369, ⟨10.1007/978-3-319-78963-7_46⟩. ⟨hal-03757564⟩
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