Design and prototyping of smart mobile grinding bots as an educational experience

Abstract

Abrasive finishing of large areas is often done manually and can be time-consuming, ergonomically challenging, and even detrimental to the operator’s health. Inspired by ant robots, this paper presents a senior design project that developed a grinding robot and a quality robot, which can grind and assess a sheet metal surface. This concept of mobile grinding robots is novel and demands a multidisciplinary design approach. The main requirements included applying a controlled pressure with the grinding spindle to the surface, having a range of mobility within a predefined work area, and communication between the robots. A first prototype was delivered based on Linkbot modules, a commercial power tool as grinding spindle, sensors to measure spindle height, taped work area boundary, and surface finish. The mechanical and electronical system performance was analyzed and tested. This paper presents a proof of concept for smart mobile grinding bots and a reproducible educational experience.