DOI: 10.5281/zenodo.3384047
title: Data on robotic grinding of Inconel 718 part with 3M Cubitron II 984F belt for tool wear and material removal analysis

description: Data on robotic grinding of Inconel 718 part for tool wear and material removal analysis Date data was obtained: May 2019 The performance of a metal grinding operation with a robot has been studied, specifically how the grinding capability changes as time goes by and the tool gets worn. A pneumatic grinding tool has been implemented on the robot flange and abrasive belts of 3M Cubitron II 984F have been used. A rectangular metallic part of known dimensions has been attached to a load cell and has been grinded several times in consecutive tests. The grinding operation consists on a straight line along the longest side of the part.<br> During each test session, the same abrasive belt was used with fixed grinding conditions (tool angle, applied force, overlap, robot feed), until the grinding time reached 20 minutes.<br> The metal part has been weighed at regular intervals with the load cell, which allowed us to measure the evolution of the removed height of material for each pass, depending on grinding time.<br> The quantity of grinded material is measured as the height reduction in the part as the robot moves over the part at certain speed. Test sessions were designed for 4 tool angles (25, 35, 45, 75º related to the vertical), and were repeated three times for each angle. With 75º the tool was almost horizontal and it provided the smallest material removal capability. With 25º the tool was almost perpendicular to the area being grinded and it provided the highest material removal capability. The data of the tests is presented in the following units:<br> - Time: seconds:<br> - Removed material height per grinding tool pass: millimeters. The user of the data may easily convert the removed material height per pass into removed material volume or weight per pass. Considering that the width of the grinding belt is 12.5 mm, and the length of the grinded tool is 160 mm, if the height of the removed material is multiplied to the length and width the removed volume per pass can be calculated. Multiplying the volume with the density the weight of the removed material per pass can be calculated. The results of different tests presented in the .xlsx document, which can be accessed using free software such as OpenOffice or LibreOffice:<br> https://www.openoffice.org<br> https://www.libreoffice.org/ <br> TECHNICAL DESCRIPTION OF THE USED DEVICES AND CONDITIONS - Material of the grinded part: Inconel 718, density 8.19g/cm3. <br> - Dimensions of the grinded part: 160x90x40 mm.<br> - Robot: Stäubli TX90L.<br> - Belt grinding tool: AMTRU SwingBelt 120. https://www.amtru.com<br> - Applied pneumatic pressure on the grinding tool: 9 bars.<br> - Belt speed: Maximum possible speed obtained with 7 bars pneumatic mains in the workshop.<br> - Abrasive belt: 3M Cubitron II 984F, 610x12.5 mm, 36 grit (roughing).<br> - Load cell to measure the weight of the part: HBM SP4M, capacity 3 kg, precision 0.01 g.<br> - Overlap (tool lateral displacement between two passes): 6.25 mm.<br> - Robot feed: 75 mm/s (100 mm/s for the 45º test). IDEKO Research Centre<br> Address: <br> Arriaga kalea 2<br> 20870, Elgoibar, SPAIN<br> Contact:<br> Asier Barrios, abarrios@ideko.es<br> Patxi Hacala, phacala@ideko.es<br> Phone: (+34) 943 74 80 00