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本文研究了受控力条件下机器人砂轮磨削过程中工件的烧伤情况和表面光洁度。工件烧伤是由实际参与切削过程的磨粒的锋利程度逐渐降低而引起的。磨粒锋利程度的变化可以用平均摩擦系数和平均切削深度的变化进行间接监测。随着砂轮的磨损,这两个参数将逐渐减小。本文推导出的解析式可以用来预测受控力磨削过程中发生的烧伤情况。在上述条件下,使用经过仔细调节的PID控制器所得出的实验结果与预测结果十分吻合。实验结果还表明在连续磨削时表面光洁度将得到逐步改善。因此,我们试图根据砂轮切削效率的逐渐下降来解释和预测表面光洁度的变化的特点。这些关系可以用于实际优化机器人控制磨削过程。
In this paper, the burn conditions and surface finish of the workpiece during the grinding process of robot grinding wheel under the condition of controlled force are studied. The workpiece burn is caused by the gradual reduction of the sharpness of the abrasive particles actually involved in the cutting process. Changes in the sharpness of abrasive particles can be monitored indirectly using changes in the average coefficient of friction and average depth of cut. As the grinding wheel wear, these two parameters will gradually decrease. The analytic formula derived in this paper can be used to predict the burns that occur during controlled grinding. Under the above conditions, the experimental results obtained using a carefully tuned PID controller are in good agreement with the predictions. The experimental results also show that surface finish will be gradually improved during continuous grinding. Therefore, we try to explain and predict the change of surface finish according to the gradual decline of wheel cutting efficiency. These relationships can be used to actually optimize the robotic control of the grinding process.