Research On Key Technology Of Blade Grinding And Polishing Robot System

In recent years,the demand for high performance aero-engine is ever increasing.As the “heart” of the engine,the grinding and polishing precision of blade is the key factor,which determines the propulsion performance and service life of the engine.However,the traditional machining methods of manual and machine tools has been unable to meet the requirements of blades machining.But now,the increasingly mature robot control technology provides a low-cost and flexible solution for the blade grinding and polishing.Therefore,a blade grinding and polishing robot system is designed,and its key technologies is research.The main contents are as follows:(1)Determine the composition of the robot grinding and polishing system,and determine the working process of the system according to the grinding and polishing requirements;The hard ware integration scheme and the software layer design scheme are developed.And complete the development of control sofrware according to the functional requiements of the system.(2)A method of blade clamping state detection and error compensation is proposed.Then,the force of the sensor in static state is analyzed,then the load size is obtained to complete the gravity compensation and zero-point calibration of the force sensor.Meanwhile,Kalman fliter is used to filter the force,and the filtering effect is verified by experiments.(3)By the force analysis of the grinding and polishing process,the function between the six-dimensional force and the normal force is determined.Based on the interaction of tool and robot’s flange,its force model is created.And in order to inprove the respnse speed of the system,PI controller is added.Then through simulation to determine the influence of various parameters on the system,at the same time,the hybrid force-position control with the servo is determined to control the robot trajectory.(4)Set up the system expirment platform to complete the calibration and unification of each coordinate system.Based on the Alter model to complete the trajectory real-time control,then design the trajectory correction experiments based on PI controller and the force model respectively.According to the lag time of the trajectory correction,speed variation and trajectory verify the regulating function of PI controller on system stability.