Design of a novel grinding end-effector for spiral welded pipe

Abstract

In the spiral welded pipe manufacturing process, grinding is one of the production processes, this process proceeds by hand grinding and fixed machine grinding. Usually, those methods have impacts larboard intensive, long production cycle and unstable product qualification rate for the final product. To prevent those factors from this paper, present a newly-designed grinding machine for a spiral welded pipe manufacturing industry, the machine has equipped with a special grinding machine with the ability to grind the spiral welded pipe the inner and outer surface simultaneously of the pipe and equipped with 6DOF grinding robot. The kinematics model of grinding robot is derived and the robot joint trajectory is calculated. The simulation result shows that the grinding mechanism can perform the job without failures under the external torque, and also trajectory graph of the robot kinematics shows there is no vibration on the robot movement to perform the job.