Modeling and grinding large sculptured surface by robotic digitization

Abstract

An efficient approach to surface remodeling and grinding tool-path generation for a large sculptured surface via robotic digitization was developed, and a prototype system was implemented to replace the manual grinding process for large marine propellers. The current manual grinding process removes cusps on the NC machined area and peels the unmachined area; the research focuses on the grinding of the unmachined area of a large marine propeller. A robotic digitization and surface remodeling methodology was developed by the use of a thickness-map that reduces a three-dimensional problem to a two-dimensional problem. Also, the local and global grinding tool-paths are generated on the reconstructed surface based on the thickness-map, and the workpiece is machined by a six-axis articulated robot. The purpose of the research is to construct a prototype system for propeller grinding experiments and further development in Hyundai Heavy Industry, Korea.