Characterization and Modeling of Grinding Speed and Belt Wear Condition for Robotic Grinding Process

摘要

Nowadays, robot arms are gradually widely used in the plumbing industry due to the severe problem of labor shortage. When using robot arms to conduct the grinding process, the belt wear occurs gradually and affect the workpiece quality. In order to keep the same workpiece quality, a belt speed control system is proposed. The proposed model can compute the wear condition of the abrasive belt, judge the moment to change a new belt, and control the belt speed to maintain the same workpiece quality. Experimental results showed that the coefficient of determination of the model are all higher than 0.878, and when the belt wear affects the workpiece quality, the proposed system can update the new belt speed to ensure the workpiece quality the same within 3 rounds control.