Investigation of cycle time behavior in the robotic grinding process

Abstract The production of power transmission components such as gears and bearing rings involves precision finishing of highly specialized and dedicated precision grinding machine tools. Six degree-of-freedom (6-dof) articulated arm industrial robots are less expensive and more versatile than precision grinding machines because they can be readily reconfigured for a variety of production tasks including precision grinding of free-form surfaces. However, the high compliance of such robots poses a challenge in high-precision operations, particularly as it relates to the overall cycle time of the process. The paper presents an analysis of the effects of robot compliance and grinding parameters on the cycle time of a precision grinding process. Specifically, a process model for robot-workpiece interaction and grinding process cycle time is developed. This model is used to analyze the behavior of a face grinding process cycle. The results show that for a given robot stiffness, minimizing the face grinding cycle time requires the process to be operated at the highest achievable wheel speed and infeed rate with a wheel of higher hardness. The paper also shows that a 6-dof robot offers the flexibility of modifying the Cartesian stiffness at the end effector by varying the robot pose, which is difficult to achieve in conventional grinding machines. This capability, along with the process cycle time model, permits optimization of process cycle times for precision grinding of surfaces, including free-form surfaces, using 6-dof robots.