ASix-DOF Industrial Robot-based High Efficiency Lapping Technology For Passage Of Impeller

As the crucial energy conversion component of aero-engine,aviation impeller's surface quality directly influences the working performance of aero-engine.The general processing method of impeller is five-axes NC machine milling,however,apparent milling marks will appear on the passage of impeller that after side milled,Because of the complex of structure,it's hard to ensure that the passage face coincidences with the designed passage completely using low-efficiency manual lapping of impeller passage,thus influences aerodynamic performance of impeller,Therefore,how to realize the high-efficiency lapping of impeller passage,its related technology is always an important bottleneck problem of impeller passage lapping processing technology.Hence,this paper raises the research based on 6-DOF industrial robot's impeller passage high-efficiency lapping technology,according to the comprehensive applications of robot technology,machining simulation technology,lapping technology,lapping experiment and data processing technique,specifically explored the dynamics theory of 6-DOF industrial robot,impeller passage lapping track plan and robot post processing technology of posture change,robot lapping simulation technology and lapping process parameter optimization and decision making technology,detailed research works are as follow:(1)6-DOF industrial robot Kinematics analysis.Based on the homogeneous transformation theory and the standard D-H method,the mathematical analytic model of the forward kinematics and inverse kinematics of the robot is established,adopting variables separation to resolve robot inverse kinematics,optimizing inverse kinematics based on 'the shortest-distance',using the Monte Carlo method to analyze the robot working space.(2)6-DOF industrial robot lapping trajectory planning and machining simulation.Designs impeller passage lapping track based on UG software's variable contour milling tool path planning method;on the basis of the analysis of impeller passage NC machining instruction,established the post processing conversion algorithm of impeller passage lapping head position data to robot lapping position;programmed robot post processing processor using MATLAB,simulated and verified robot lapping track,conducted impeller passage robot lapping process under the simulated environment based on Adams dynamics simulation.(3)6-DOF industrial robot lapping process analysis and process parameter optimization.Analyzed process characteristics of' passage lapping,developed lapping proposal using wool lapping head;conducted robot lapping single factor and orthogonal experiments,combined variance analysis,analyzed the effect degree of process parameter on lapping workpiece surface roughness prediction,utilized multielement linear regression equation,established wool lapping head's work piece surface roughness prediction empirical model,optimized lapping process parameter using grey relational decision theory.In conclusion,this article's research provides technological support and reference to the establishment of impeller passage high-efficiency lapping process based on 6-DOF industrial robot.