Dexterous space optimization for robotic belt grinding

摘要

Industrial robots are recently introduced to the belt grinding of complex shaped surfaces to obtain high productive efficiency and constant surface quality. The volume of dexterous grinding workspace is a key factor the grinding robot, in which the gripped workpiece could obtain continuous grinding path and constant surface quality. This paper proposes a new structure of a robotic grinding system in which a new robot frame including active work piece frame {W} and passive tool frame {T} was presented. It shows that the dexterity of the system, which is indexed by the volume of dexterous workspace, is affected by the position of the contact wheel relative to the robot. Based on pattern search method, a strategy to optimize the grinding robot position with respect to the grinding wheel is put forward to obtain the desired dexterity grinding space.