Development of a Force Controlled Automatic Grinding System for Actual NC Machining Centers

Abstract The authors have developed an automatic grinding system which is constructed on actual NC machining center. A ring-shape 6-axis force sensor, a fail safe structure and a compliance device are newly invented for this purpose. By these devices and automatic force control theory, the movement direction of the grinder is automatically decided and the grinding force is maintained constant. In such a way, the cut surface is ground automatically without any information about surface configuration.