ティーチングレス形グライディングロボットのための研削点の測定法

概要

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On a grinding robot, it is very bothersome task to teach the contour of a workpiece accurately. Therefore, a teachingless grinding robot has been proposed by the authors. This robot system measures three components of moment which is given by a grinding force at the wrist of a manipulator, calculates grinding points on a cylindrical grinding wheel, and recognizes the contour of the workpiece.<BR>In order to develop this technique, this paper studies the method to calculate the grinding points on grinding wheels of various shapes. Results of analysis and experiments show the followings. 1) If the shape of a grinding wheel is known and constant without wearing away, the grinding points are able to be calculated from only three components of moment given by a grinding force. 2) The calculation is, however, very difficult when a radius of the grinding wheel is not linear function of the axis direction. Therefore, one component of a thrust has to be given to simplify the calculation. 3) Even if the shape of a grinding wheel is not known or varied by wearing away, the grinding points can also be calculated by measuring three components of a thrust in addition to the three components of moment.
一般社団法人日本ロボット学会の論文