Grinding Force Control of the Cutting Edge of a Blade by a Robot Manipulator

• Main Authors: PATRICIA GABRIELA MOYA CACERES, Patricia Gabriela Moya Caceres
• Other Authors: SIAO, JYUN-SIANG
• Format: Others
• Language: en_US
• Published: 2019
• Online Access: http://ndltd.ncl.edu.tw/handle/wnu34a

碩士 === 國立臺北科技大學 === 機械與自動化碩士外國學生專班 === 107 === Numerous grinding processes are carried out manually. These processes are repetitive, time-consuming, and exhausting for operators. Furthermore, quality results are not always obtained. The objective of this thesis is to implement a force-control during the grinding process for the curved edge of a blade by a robot manipulator and a bench grinder. The expected result would be a sharp blade with a quality finish and symmetry on both ground sides. The procedure is performed by first identifying the shape of the knife using Solidworks in order to ascertain the 3D model of the blade. The geometry of the blade is used to program the grinding path that will be executed by a robot arm. A force-feedback grinding control would be applied using two different force/torque sensors to ensure a constant contact force between the blade and the grinder wheel during the process. A proportional controller is proposed to achieve this goal. Finally, an error compensation method is applied to improve the robot positioning during the grinding process. Experimental results validate the effectiveness of the developed grinding force control method. The force error between the target and the current force was about 5.7%. Furthermore, the cutting efficiency of the blades was of 96% of 100 tests realized. Finally, the grinding edge width got a tolerance of 0.059‬mm, which ensures the symmetry of the blade and the quality finish.