Structural Dimension Optimization of Robotic Belt Grinding System for Grinding Workpieces with Complex Shaped Surfaces Based on Dexterity Grinding Space

To improve the grinding quality of robotic belt grinding systems for the workpieces with complex shaped surfaces, new concepts of the dexterity grinding point and the dexterity grinding space are proposed and their mathematical descriptions are defined. Factors influencing the dexterity grinding space are analyzed. And a method to determine the necessary dexterity grinding space is suggested. Based on particle swarm optimization (PSO) method, a strategy to optimize the grinding robot structural dimensions and position with respect to the grinding wheel is put forward to obtain the necessary dexterity grinding space. Finally, to grind an aerial engine blade, a dedicated PPPRRR (P: prismatic R: rotary) grinding robot structural dimensions and position with respect to the grinding wheel are optimized using the above strategy. According to simulation results, if the blade is placed within the dexterity grinding space, only one gripper and one grinding machine are needed to grind its complex shaped surfaces.