Open AccessDesign of a novel grinding end-effector for spiral welded pipe
Author(s) -
Getachew Demeissie Ayalew,
Yao Zheng,
Yang Yang
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1780/1/012008
Subject(s) - grinding , mechanical engineering , spiral (railway) , welding , kinematics , robot , computer science , machining , vibration , robot end effector , cutter location , grind , materials science , engineering , structural engineering , numerical control , acoustics , artificial intelligence , physics , classical mechanics
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.