Contact force modeling and analysis for robotic tilted-disc polishing of freeform workpieces

摘要: Abstract This paper investigates the tool-workpiece contact mechanism in disc polishing process, where soft touches rigid freeform workpiece with a small tilt angle. The developed force model can explain how parameters, including depth, angle, radii of curvature and workpiece, affect normal force. Under some reasonable geometric mechanical assumptions an approximated equation is derived simple power-law form similar to Hertzian model. found be positively related depth radius, while negatively angle that orthogonal feed direction. Both finite element simulations experiments verify effectiveness proposed Furthermore, material removal process analyzed model-based parameter planning method achieve uniform considering variation curvatures.