Modeling of Material Removal Depth in Robot Constant Force Dry Grinding
It is difficult to control the depth of material removal when passive compliant devices are in-stalled at the end of robots for grinding.In order to determine the appropriate grinding parameters to control the grinding depth,according to the grinding principle and the empirical formula of grinding force,the ma-terial removal depth model of robot dry grinding with normal pressure,feed speed and spindle speed is es-tablished.The material removal depth is proportional to the product of the exponential power of grinding parameters.The unknown parameters of the model are calibrated by orthogonal experiments,and a complete material removal depth model is established;The relationship between material removal depth and grinding parameters is analyzed by univariate experiments.The material removal depth model is verified by multiva-riate random experiments.The univariate experiments and random experiments show that the material re-moval depth is directly proportional to the product of the exponential power of grinding parameters.Within the allowable range of grinding accuracy,grinding parameters can be determined according to the material removal depth model to control the material removal depth.
robotconstant force dry grindingmaterial removal depthgrinding parametersnormal pressure
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