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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)


  • HAL Id : hal-03757564 , version 1


Mohamed Didi Chaoui, François Léonard, Gabriel Abba. Improving surface roughness in robotic grinding process. 22nd CISM IFTOMM Symposium on Robot Design, Dymanics and Control, Jun 2018, Rennes, France. ⟨hal-03757564⟩
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