Abstract
An automatic grinding system for curved surfaces with a six-axis force sensor has been developed. This system finishes the curved surface of a die, etc. by detecting the grinding force acting on the tool such as a mounted wheel with the sensor and controlling it adaptively by a micro-computer. The six-axis force sensor has been developed specially for this system. It has a compound structure composed of parallel and radial plates, and it can detect three components of the force and three components of the moments at the tool point. It has been shown that this system can be useful for not only grinding the curved surface of a die, but also finishing the surface of castings and beads of welding.
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