The instantaneous contact zone in robotic abrasive belt grinding involves highly coupled thermo-mechanical interactions between abrasive grains and the workpiece material. Acoustic Emission (AE) signals generated during this process are inherently nonlinear and nonstationary, posing challenges for accurate process monitoring and mechanistic understanding. To address this, this study introduces an innovative AE signal processing framework designed to elucidate the robotic grinding mechanism for Ti-6Al-4V (TC4) titanium alloy. An improved Completely Complementary Ensemble Empirical Mode Decomposition (CCEEMD) algorithm, building upon Empirical Mode Decomposition (EMD), is developed to precisely extract intrinsic mode functions (IMFs) from raw AE data. Subsequently, a novel denoising algorithm utilizing noise statistical characteristics effectively removes invalid noise from the robotic machining system. Validation through robotic grinding experiments on TC4 workpieces successfully established quantifiable relationships between extracted AE features and the underlying grinding mechanism. Significantly, implementing this methodology contributed to extending the effective service life of a structured abrasive belt by approximately 20% while increasing machining efficiency by approximately 12%. This work presents a novel methodology combining improved CCEEMD and statistical denoising for AE analysis in robotic grinding, providing a robust link between AE signatures and material removal mechanisms, ultimately enabling quantitative process optimization.
Zhu et al. (Thu,) studied this question.