Real-Time Simulation of Robot Controlled Belt Grinding Processes of Sculptured Surfaces
نویسندگان
چکیده
Industrial robots are introduced to belt grinding processes of free-formed surface with elastic wheel nowadays in order to obtain high quality product and high efficiency. However, it is a laborious task to plan grinding paths and write programs for the robot. To release people from it partially, it is necessary to simulate the belt grinding processes which are useful for path generating and dynamic robot control. In this paper, we present a framework of the robot controlled belt grinding simulation system and some key issues in it. We enhance the global removal model to local process model, which can simulate the grinding process more exactly. We also point out the bottleneck of the real-time simulation and put forward a neural network based regression method to meet this difficulty. At the end of the paper, some simple simulation examples are given.
منابع مشابه
Simulation and verification of belt grinding with industrial robots
A new simulation and verification system of belt grinding with industrial robots is presented in this paper. The workpiece surface is represented by a discrete height field, an array of extended height segments, and a fast collision detection algorithm using k-DOP bounding volumes is adopted to accelerate the localization of the contact area. A local grinding model is incorporated to decide the...
متن کاملThermal Analysis of the Robot Supported Belt Grinding with Elastic Contact Wheel
Because of the friction in the contact zone between the tool and a work piece during the robot supported belt grinding process of metallic work pieces, high temperatures can be generated, causing modifications of material microstructure and change of material properties. The results of first experiments, which describe the effects of diverse process parameters (grinding time, material of work p...
متن کاملSimulation of Position Based Visual Control and Performance Tests of 6R Robot
This paper presents simulation and experimental results of position-based visual servoing control process of a 6R robot using 2 fixed cameras. This method has the ability to deal with real time changes in the relative position of the target-object with respect to robot. Also, greater accuracy and independency of servo control structure from the target pose coordinates are the additional advanta...
متن کاملA portable, multiprocess, track-based robot for in situ work on hydropower equipment
In the hydropower industry, in situ maintenance work of turbine runners to address issues such as cavitation damage and cracking is mainly performed manually. Alternatively, the entire turbine requires disassembly and is repaired off site at greater cost. This paper presents the development and fundamentals of robotic technology designed to perform work in situ on hydroelectric equipment. A sec...
متن کامل