Analyzing and modelling the dynamic energy partition is of great significance to revealing the mechanism of belt grinding and improving grinding quality. However, there is lack of comprehensive studies on energy partition in belt grinding, especially when the dynamic characteristics are under consideration. To fill this gap, this paper analyzed the grinding energy partition from the perspective of grinding effects and thermal aspects. Grinding effects are distinguished by combination of single grain scratch tests and force balance of one grain in view of dynamic and elastic contact conditions. Thermal aspects are obtained by a fusion method of finite element method (FEM) and optimization algorithm. Then, by utilizing the iterative approach, heat accumulating effect and temperature dependent mechanical properties of workpieces are taken into account either and the dynamic energy partition is calculated in a continuous grinding process. Validations on two workpieces (made by SUS304 and AA6061-T6) prove that the proposed dynamic energy partition calculating method is effective and the maximum error of $q_w$ is 17.2 %. The proposed method not only enhances the understanding of dynamic energy partition in robotic belt grinding, but also offers a new venue for studying abrasive belt grinding.

对动能分配进行分析和建模对揭示砂带磨削机理和提高磨削质量具有重要意义。但是，对于砂带磨削中的能量分配，缺乏综合研究，特别是在考虑动态特性时。为了填补这一空白，本文从磨削效果和热学方面分析了磨削能量分配。鉴于动态和弹性接触条件，单粒划痕测试和一个晶粒的力平衡相结合，可显着地发挥磨削效果。通过有限元方法（FEM）和优化算法的融合获得热学方面的信息。然后，利用迭代方法，同时考虑了工件的蓄热效果和温度相关的机械性能，并在连续磨削过程中计算了动态能分配。通过对两个工件（由SUS304和AA6061-T6制造）的验证，证明了所提出的动态能量分配计算方法是有效的，并且最大误差为$q_w$是17.2％。所提出的方法不仅增进了对机器人砂带磨削中动态能量分配的理解，而且为研究砂带磨削提供了新的场所。