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Conference Papers Year : 2019

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.
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Dates and versions

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

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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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