Design and Experiment of Robotic Belt Grinding System with Constant Grinding Force

Aiming at the problems of the lack of engineering practice in robotic grinding, a robotic belt grinding automation production system for complex surface workpiece is designed and built, which is based on the application of hand-grinding production line and industrial robot. In order to design the belt grinder, some key parameters such as driving wheel diameter, belt tension and tension cylinder bore are calculated. On this basis, the construction of the belt grinder is completed. Meanwhile, a robotic belt grinding control system is set up by using fieldbus and serial port. The system has constant grinding force control module. In the module, it uses the motor current and the adjustment distance of the robot to achieve the constant control of grinding force. The simulation environment of the system is established by using the software Robot Studio. It can realize off-line programming and online simulation of the machining path. Taking a faucet as a test, its results show that the surface roughnesses of fine grinding are below 0.9 microns. The results fully meet the requirements of parts surface grinding. It provides a theoretical basis and experimental reference for the development of industrial robotic belt grinding system.