Effect of Machining Trajectory on Grinding Force of Complex-Shaped Stone by Robotic Manipulator
Complex-shaped stone products (CSSPs) have become stone products with high added economic value due to their complex overall shape, outline structure, and various curved surfaces. Recently, robotic manipulators—pieces of intelligent machining equipment—equipped with grinding end-effectors have signi...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-09-01
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| Series: | Machines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2075-1702/10/9/787 |
| _version_ | 1797485553446289408 |
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| author | Fangchen Yin Shatong Wu Hui Huang Changcai Cui Qingzhi Ji |
| author_facet | Fangchen Yin Shatong Wu Hui Huang Changcai Cui Qingzhi Ji |
| author_sort | Fangchen Yin |
| collection | DOAJ |
| description | Complex-shaped stone products (CSSPs) have become stone products with high added economic value due to their complex overall shape, outline structure, and various curved surfaces. Recently, robotic manipulators—pieces of intelligent machining equipment—equipped with grinding end-effectors have significantly replaced handheld equipment and have also shown significant advantages in grinding efficiency and modeling flexibility. However, natural stone generally has the characteristics of poor craftsmanship and low rigidity. Improper control of the grinding force while grinding can easily cause the stone blank to break and scrap the workpiece. Therefore, in this study, we consider CSSPs and examine their surface curvature characteristics. The matching relationship between surface characteristics and machining trajectory is studied through simulation. Furthermore, the grinding force fluctuation in the finishing is optimized, and the optimal machining trajectory of the finishing process is determined to improve the surface profile error. Then, the simulation reliability is verified through experiments. The results show a 52.8% reduction in the grinding force fluctuation and a 36.9% reduction in the surface profile error after machining. |
| first_indexed | 2024-03-09T23:21:24Z |
| format | Article |
| id | doaj.art-5dda8ea32ce54f44abc769a70333054c |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-09T23:21:24Z |
| publishDate | 2022-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-5dda8ea32ce54f44abc769a70333054c2023-11-23T17:26:51ZengMDPI AGMachines2075-17022022-09-0110978710.3390/machines10090787Effect of Machining Trajectory on Grinding Force of Complex-Shaped Stone by Robotic ManipulatorFangchen Yin0Shatong Wu1Hui Huang2Changcai Cui3Qingzhi Ji4Institute of Manufacturing Engineering, Huaqiao University, Xiamen 361021, ChinaInstitute of Manufacturing Engineering, Huaqiao University, Xiamen 361021, ChinaInstitute of Manufacturing Engineering, Huaqiao University, Xiamen 361021, ChinaInstitute of Manufacturing Engineering, Huaqiao University, Xiamen 361021, ChinaInstitute of Manufacturing Engineering, Huaqiao University, Xiamen 361021, ChinaComplex-shaped stone products (CSSPs) have become stone products with high added economic value due to their complex overall shape, outline structure, and various curved surfaces. Recently, robotic manipulators—pieces of intelligent machining equipment—equipped with grinding end-effectors have significantly replaced handheld equipment and have also shown significant advantages in grinding efficiency and modeling flexibility. However, natural stone generally has the characteristics of poor craftsmanship and low rigidity. Improper control of the grinding force while grinding can easily cause the stone blank to break and scrap the workpiece. Therefore, in this study, we consider CSSPs and examine their surface curvature characteristics. The matching relationship between surface characteristics and machining trajectory is studied through simulation. Furthermore, the grinding force fluctuation in the finishing is optimized, and the optimal machining trajectory of the finishing process is determined to improve the surface profile error. Then, the simulation reliability is verified through experiments. The results show a 52.8% reduction in the grinding force fluctuation and a 36.9% reduction in the surface profile error after machining.https://www.mdpi.com/2075-1702/10/9/787machining trajectorygrinding force fluctuationrobotic manipulatorscomplex-shaped stone products |
| spellingShingle | Fangchen Yin Shatong Wu Hui Huang Changcai Cui Qingzhi Ji Effect of Machining Trajectory on Grinding Force of Complex-Shaped Stone by Robotic Manipulator Machines machining trajectory grinding force fluctuation robotic manipulators complex-shaped stone products |
| title | Effect of Machining Trajectory on Grinding Force of Complex-Shaped Stone by Robotic Manipulator |
| title_full | Effect of Machining Trajectory on Grinding Force of Complex-Shaped Stone by Robotic Manipulator |
| title_fullStr | Effect of Machining Trajectory on Grinding Force of Complex-Shaped Stone by Robotic Manipulator |
| title_full_unstemmed | Effect of Machining Trajectory on Grinding Force of Complex-Shaped Stone by Robotic Manipulator |
| title_short | Effect of Machining Trajectory on Grinding Force of Complex-Shaped Stone by Robotic Manipulator |
| title_sort | effect of machining trajectory on grinding force of complex shaped stone by robotic manipulator |
| topic | machining trajectory grinding force fluctuation robotic manipulators complex-shaped stone products |
| url | https://www.mdpi.com/2075-1702/10/9/787 |
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