Application and Analysis of Force Control Strategies to Deburring and Grinding  

作　　者：Frank Domroes Carsten Krewet Bernd Kuhlenkoetter 

机构地区：[1]Institute of Production Systems, TU Dortmund University, Dortmund, Germany

出　　处：《Modern Mechanical Engineering》2013年第2期11-18,共8页现代机械工程（英文）

摘　　要：This paper aims to give an insight into the development and evaluation of force controlled machining processes with a commercially available setup. We will focus on a deburring and a grinding scenario, representing the major applications in today’s robot machining. Whereas the deburring use-case implements a force dependent feed-rate control, the grinding use-case implements an orthogonal force (pressure) control. Both strategies will be evaluated and the influence of general machining and robot specific parameters will be discussed.This paper aims to give an insight into the development and evaluation of force controlled machining processes with a commercially available setup. We will focus on a deburring and a grinding scenario, representing the major applications in today’s robot machining. Whereas the deburring use-case implements a force dependent feed-rate control, the grinding use-case implements an orthogonal force (pressure) control. Both strategies will be evaluated and the influence of general machining and robot specific parameters will be discussed.

关 键 词：ROBOT MACHINING DEBURRING GRINDING FORCE Control STRATEGIES 

分 类 号：R73[医药卫生—肿瘤]