The invention discloses a
contact force planning method and device for deterministic force control
grinding and
polishing, and belongs to the technical field of
contact force planning. The method comprises the following steps: preprocessing
point cloud data to obtain workpiece
point cloud data; flexible
grinding contact modeling is carried out based on the workpiece
point cloud data, and a
contact model between the tool pressing amount and the
contact depth, the contact point index set and the
contact pressure is obtained; establishing a
material removal model based on the
contact model and a convolutional
material removal principle, and obtaining a least square form of the
material removal model; solving the least square form to obtain a tool pressing amount; the
contact force is calculated based on the tool pressing amount. According to the method, the tool pressing amount is used for acting as the contact force, the contact force facing deterministic
grinding is obtained by optimizing the tool pressing amount, the optimization method supports multiple numerical solution strategies, the planned contact force can implement different contact forces at different tool location points, the
machining allowance is matched with the material removal depth, and the
machining precision is improved. And the accuracy of contact force planning is improved.