Fig. 1. Schematic diagram of wheel belt grinding device and principle. (a) Cantilever component; (b) Rotation-revolution abrasive belt grinding device; (c) Device working principle

Fig. 2. Schematic diagram of wheel belt grinding

Fig. 3. Attitude description of end effector

Fig. 4. Working principle of gravity compensation system

Fig. 5. Components of a gravity compensation system. (a) Gravity compensation control system of end-effector; (b) Hardware layout; (c) Host computer

Fig. 6. Output pressure calibrationt

Fig. 7. Schematic diagram of performance test experiment

Fig. 8. Comparison of output pressure during rotation around the X-axis

Fig. 9. Comparison of output pressure during rotation around the Y-axis

Fig. 10. Schematic diagram of velocity analysis of the device

Fig. 11. Simulation results of removal function

Fig. 12. Ideal sine surface

Fig. 13. Initial surface profile of SiC

Fig. 14. Surface profile of SiC after plane modification

Fig. 15. Distribution of machining removal allowance

Fig. 16. Inspection profile after machining

Fig. 17. Profile gauge inspection image. (a) Initial profile of aspheric ZnS surface; (b) Surface profile of aspheric ZnS after machining

Fig. 18. Surface error of ZnS aspherical surface

Fig. 19. Aspheric ZnS after machining