Design and Modeling of Belt Grinding Tool for Industrial Robot Application

Manufacturing in aerospace industry has a strong demand for robotic grinding. However, poor trajectory accuracy and rigidity hinder the application for accurate grinding. In this paper, we present a novel approach for modeling and control of an automated grinding process that utilizes a belt grinding tool. This tool has an active compensating electric cylinder controlled with the information integrating contact force and tool orientation. The design of critical components are presented in details and the coupling method is described based on the static structure of sensor. Simulation within robotic cell has been set up to demonstrate the effectiveness of the presented methods.