Sharp corner transitional trajectory planning based on arc splines in glass edge grinding

Abstract

The sharp corners on final contours in flat glass grinding can cause broken wheel center trajectories. A corner transitional trajectory planning algorithm based on arc splines is proposed in this paper to control the wheel center trajectory G1 continuity and the grinding depth at a corner. The radii of arc splines are derived first to meet design requirements based on the geometrical features of a sharp corner. A three-phase feedrate planning scheme is introduced to generate the arc splines. Corner classification and treatment are presented to make the proposed algorithm flexible, and steps for algorithm application are summarized. Experimental results demonstrate that the proposed algorithm can achieve satisfactory shape accuracy at corners without any breakage, rounding, or flattening.