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Accurate tool calibration for robotic conformance grinding system

Wang Wei Yun Chao Sun Kun Wang Yuanyuan(School of Mechanical Engineering and Automation,Beijing University of Aeronautics and Astronautics,Beijing 100191,China)  
An experimental grinding tool calibration method was proposed to improve the accuracy of robotic belt grinding system.The accuracy of grinding tool's horizontal axis calibrated by this new method is 0.05°.If the tool frame has a deflexion from the programmed pose,this deflexion is trigonometrically related to the depth difference in the grinded sample piece.After setting up the experiment system,the testing grinding experiments to magnify the deflexion were made.The experimental data on the grinded path were recorded and analyzed,after the sample piece was grinded completely by the contact wheel.The actual deflexion was obtained and the programmed tool pose was compensated to zero.To verify the accuracy and feasibility of this method,the sample piece was grinded with the compensated zero tool pose two times.
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