Abstract: This paper describes a free curvature grinding robot system with 4-freedom multiple joints. Analysis of motion of the robot tool tip is carried out by the principle of orderly kinematics and reverse kinematics. Compensation of the positioning accuracy of robot tool tip is made by Newton method. Experiments of inclined surface grinding are carried out with and without control on tool posture. The result shows that the parameter accuracies of various arms of robot directly impact the positioning accuracy of the tool tip. Through compensation, the positioning accuracy can reach±25μm. By controlling the posture of tool, grinding allowance can be greatly reduced.

Key words: Control on posture, Machining allowance, Positioning accuracy, Robot with multiple joints