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Using internal grinding operations can fine finish internal workpiece surfaces Typical examples of internal grinding are enlarging a hole or a bore size similar to that in boring operations (Figure 414 (e, h)) and the form grinding of inside diameters (Figure 414 (g)) To machine a bore, the grinding rim attached to the periphery of a supporting core of appropriate dimensions must, perforce, be at the extremity of a shaft, thin enough to permit an easy entry into the bore and long enough to allow machining of the bore over its full depth The overhang, which results, is the underlying cause of a host of problems characteristic of internal grinding, and leads to an inherent lack of stability and rigidity Slotting, slicing, cropping and dicing operations are referred to as cut-off operations as illustrated in Figure 414 (l, o, q, r), respectively, and are also accepted as conventional grinding In these grinding operations, single or multiple discs are arranged vertically on a horizontal spindle to perform simultaneous cutting operations on the workpiece that is held on a reciprocating table (Figure 414 (m)) The use of superabrasive cut-off grinding (slicing) wheels has been increasing substantially over the last 10 years, as harder and more expensive materials come on the market These require, in a first machining step, to be cut rapidly and cheaply to dimensions commensurate with the end product For instance, one high growth area has been the cutting off to shape of synthetic quartz ingots, which constitute the raw material required for electronic watches A cut-off grinding wheel is essentially a very thin grinding wheel, whose width usually lies in the vicinity of 1 mm (004 in) or less The rim is mounted on the periphery of a metal disc, usually made of steel The primary requirement for such a cut-off wheel is a sufficient freeness of cut The workpiece should be cut-off without any substantial pressure build-up at the grinding interface [33] Creep-feed grinding (Figure 414 (c)) is a new form of grinding operation different from other conventional grinding processes In creep-feed grinding, the entire depth of cut (in-feed) is completed in one pass by using a very small feed rate It is a technique used to grind a form into a workpiece in a single pass of the grinding wheel The workpiece is fed into the revolving grinding wheel, opposite to the wheel rotation, at a slow, steady table feed rate The wheel height is set to the final size, and the desired form is generally completed to size, tolerance, and surface finish in one pass It is possible to grind profiles with depths of cut of 10 300 mm in one pass using work speeds from 10 to 0025 m/ min Creep-feed grinding can compete with surface grinding, milling, gear cutting, broaching, and other processes where heavy stock removal is required It is very effective where a precise, accurate form is required, and the profile accuracy is critical The key advantages of creep-feed grinding are increased productivity, better dimensional part accuracy, and less metallurgical damage to the workpiece [32] Double disk grinding (Figure 414 (i)), edging operations on silicon wafer periphery (Figure 414 (n)) and flatting of silicon ingots (Figure 414 (p)) are also considered as surface grinding operations But here they involve different types of workpieces, size and orientation Grinding operations are also often being used for removing burrs and fine finishing of machined threads, and form grinding operations of grooves on ball screws as shown in (Figure 414 (j) and Figure 414 (k)), respectively.





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The interface between their wheels (or treads, or legs, or whatever) and the ground is not mathematically perfect Any calculations used to determine the robot s position based on what the wheels have done are going to have errors Every time the robot turns or moves, a little more error creeps into the picture More feedback can be used to reduce the error Distance sensors, cameras, bump switches, GPS, anything that can interact with the outside world, can provide a second opinion on the robot s position When you have more than one way of estimating the robot s position, you can combine the results to reduce the error of any one technique This sensor fusion is not easy, but at least it is possible..

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