An experimental method to calibrate the robotic grinding tool

A new experimental tool calibration method is proposed to upgrade the accuracy of robotic conformance grinding system. The horizontal axis deflexion error of grinding tool achieved by this new method is below 0.05 degree, and the calibration method turns to be easy and practical. Based on the conclusion of the universal calibration methods for the static contact wheel, the tool of grinding, the authors forward the conception of the new method and prove its validity theoretically, then introduce the robotic system components and set up the experiment system, and make the test grinding experiments to magnify the deflexion. After the process of complete grinding between the contact wheel and the sample piece, the experimental data are recorded and analyzed. After obtaining the grinding toolpsilas current deflexion from the ideal pose, the authors compensate it to the programmed tool pose, and grind the sample piece using the robotic grinding system to verify the accuracy and feasibility of this method. Its conception comes from that if the tool frame has a deflexion from the programmed pose, and this deflexion is trigonometrically related to the depth difference in the grinded sample piece.