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<p>Weld seam grinding reduces stress concentration after welding and enhances joint fatigue strength. Mostly automated grinding method uses machine vision to guide robots to grind. However, the low absolute positioning accuracy of robots and unjustified grinding trajectory planning greatly limit the accuracy of spatially curved weld seam robotic grinding. To solve these problems, this article proposes a method of surface profile measurement based on the electro-hydrostatic actuator constant force end-effector (EHA-CFE), which can correct the position of robots by measured profile. Experimental accuracy validation for both static and dynamic measurements was conducted. Establishing an error compensation model improves the dynamic measurement accuracy by about 70%. A high-precision welding seam grinding method has been proposed, not requiring the grinding tool removal model. Finally, for the spatially curved weld seam, based on the results of surface profile measurement on both sides of the weld seam, a grinding trajectory curve and robotic grinding posture were generated through moving average filtering combined with cubic B-spline interpolation. The absolute positioning error of the robot was corrected by touch servoing, decreasing by about 83%. The experimental results show that the weld reinforcement can be controlled by approximately 0.15&#xa0;mm, and the surface roughness of the weld seam after grinding can reach about 0.3 um.</p>

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Touch sensing–based high-precision robotic grinding for spatially curved weld seam

  • 期刊论文

  • 发表日期：

    2025年8月22日

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  • Jiacheng Li,
  • Fengjing Xu,
  • Yanling Xu,
  • Qiang Wang,
  • Huajun Zhang

摘要

Weld seam grinding reduces stress concentration after welding and enhances joint fatigue strength. Mostly automated grinding method uses machine vision to guide robots to grind. However, the low absolute positioning accuracy of robots and unjustified grinding trajectory planning greatly limit the accuracy of spatially curved weld seam robotic grinding. To solve these problems, this article proposes a method of surface profile measurement based on the electro-hydrostatic actuator constant force end-effector (EHA-CFE), which can correct the position of robots by measured profile. Experimental accuracy validation for both static and dynamic measurements was conducted. Establishing an error compensation model improves the dynamic measurement accuracy by about 70%. A high-precision welding seam grinding method has been proposed, not requiring the grinding tool removal model. Finally, for the spatially curved weld seam, based on the results of surface profile measurement on both sides of the weld seam, a grinding trajectory curve and robotic grinding posture were generated through moving average filtering combined with cubic B-spline interpolation. The absolute positioning error of the robot was corrected by touch servoing, decreasing by about 83%. The experimental results show that the weld reinforcement can be controlled by approximately 0.15 mm, and the surface roughness of the weld seam after grinding can reach about 0.3 um.