Modeling and experimental work on robotic grinding tool profiling through tool orientation control for repair of high curvature surfaces

摘要

For maintenance and repair of hydroelectric equipment, a modified plug wheel can be used to conduct robotic grinding work on high curvature surfaces or hard-to-access areas such as turbine blade junctions. During this robotic process, it is important to keep the tool profile as spherical as its initial shape in order to ensure uniform ground surfaces. In this paper, we present the material removal and tool wear models developed to control the tool profile evolution caused by wear. The objective is to control the contact area between the tool and the workpiece such that flat surface formation on the tool head is avoided. The solution proposed is an oscillation function of tool normal angle controlled by the robot arm holder. Intensive experimental work has been done to validate the models and tool angle oscillation functions using grinding, laser measurement and profilometer. Various results are presented in the paper.