A Robotic Grinding Motion Planning Methodology for a Novel Automatic Seam Bead Grinding Robot Manipulator

摘要

Industrial robotics is a continuously developing area of in-depth robotics research, as industrial robots have demonstrated to possess advantages in the robotic automation solutions in the industrial automation applications. In this paper, a novel automatic seam bead grinding robot manipulator with the integration of machining and measuring is proposed and an experimentation platform is developed for the robotic removal of the seam weld beads at welded pipe ends. Also, a robotic grinding motion planning methodology, which consists of a robotic operation process motion planning approach and a robotic seam bead grinding method, is presented for the appropriate motion planning and applications of the operational processes. Furthermore, the effectiveness of the robotic grinding motion planning methodology and the superiorly operational manipulation performance of the proposed robot manipulator are verified through a robotic grinding experiment for the removal of external seam weld beads at a helical welded pipe end.