Ren, X: Contribution to Simulation of Robotic Belt Grinding

The thesis "Contribution to Simulation of Robotic Belt Grinding Processes" presents a new simulation technology for the belt grinding processes with industrial robots as actuators. Unlike those simulation systems for milling and turning, which are implemented through Boolean operations, abrasive process simulation remains a challenge in the industrial applications. One of the difficulties is the removal estimation, which is influenced by a large set of parameters. A surfel-based workpiece model is developed to improve the geometry representation and the contact situation between the worpiece and grinding tool. It takes advantage of point-based rendering technology in computer graphics. The workpiece is represented as a discrete smooth base and associated sufel elements standing on it. A localization algorithm based on k-DOP bounding volume is used to help locating the contact area and modifying the workpiece geometry. Compared with other representations, this method is especially suitable for free-formed workpieces in finish or serni-finish processes.