Vibration coupling characteristics and grinding force control of an elastic component grinding system

Abstract

A system's dynamic behavior and vibration mechanism during interaction with a workpiece are the key factors for the stability control of the robotic grinding operation. This paper investigates the vibration coupling effect and grinding force control of the elastic component grinding system (ECGS), which is a multi-dimensional coupling system conveying a dynamic interaction between the elastic component and the grinding device during the grinding process. An elastic constraint model with equivalent stiffness is constructed to describe the dynamic disturbance effect of the elastic vibration of the elastic component. Then, the rigid–flexible coupling dynamic model of the ECGS is established. And the elastic vibration behavior of the elastic component and the grinding force fluctuation characteristics under the vibration coupling are analyzed for revealing the coupling relationship between the elastic vibration and the grinding force. Finally, through the pneumatic servo control, the grinding force adaptive controller is designed to realize the compensation control of the grinding force under the vibration coupling of the elastic component. The effectiveness of the control strategy is verified by the virtual prototype co-simulation experiment and the real prototype experiment.