Wear compensation strategy of sand belt in grindingflexible manufacturing unit
                                CHENG Chuchu1,2, FU Gaosheng1,2, CHENG Hongling1, SONG Lili1,2, LEI Haohao2
(1.Department of Mechanical and Electrical Engineering,Ningde Vocational and Technical College, Ningde 355000,China; 2.School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350108, China）

Abstract: Aiming at the problem of the reduction of grinding quantity due to abrasive wear and maintaining consistency of grinding workpiece in flexible manufacturing unit of sand belt polishing by industrial robot, the wear compensation strategy of sand belt in the process of polishing was analyzed and tested, taking copper alloy tap workpiece as the grinding objects. The compensation strategy and mechanism based on improving the speed of sand belt were put forward, which overcomed the contradiction between the traditional linearlyincreasingspeedbased method and the nonlinear trend of belt wear. The acceleration velocity formula of sand belt was also derived. The results indicated that the grinding quantity of the 100th workpiece is 10.67 g, using the linearlyincreasingspeedbased compensation method. The grinding quantity of the 101th workpiece increased to 11.02 g which is close to the standard grinding quantity, when the belt speed is nonlinearly increased from 15.99 m/s to 16.83 m/s, showing that the nonlinear acceleration compensation strategy is feasible.

Key words: industrial robot; grinding; belt wear; compensation strategy