Robotic grinding of casing air passage and support plate surface
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摘要: 提出机匣零件气道及支板面机器人磨抛加工技术。针对机匣的气道面及支板面开发高带宽长悬伸自适应磨具,根据力控磨具的受力分析进一步设计PID力控制器,采用Robotmaster进行磨抛刀路规划,在机匣试验件上开展力控磨抛方案和无力控磨抛方案的对比试验。结果显示:力控磨抛方案的精度为±1.5 N, 且平均表面粗糙度为1.450 μm;而无力控磨抛方案中的力为20.0 N, 平均表面粗糙度为2.069 μm。力控磨抛后的机匣表面质量更高。Abstract: This experiment presents the robot grinding technology for the airway and support plate surface of the aeroengine casing. A high-bandwidth and long-overhang adaptive grinding tool is developed for the airway surface and supporting plate surface of the casing. Based on the force analysis of the grinding tool, the PID force controller is further designed, and the Robotmaster is used for grinding tool path planning. A comparative experiment between the with-force controlled scheme and the without-force controlled grinding scheme was carried out on the experimental casing. The results show that the force error of the with-force controlled grinding scheme is less than ±1.5 N, and the average surface roughness is 1.450 μm. However, the force of the without-force controlled grinding scheme is 20.0 N, and the average surface roughness is 2.069 μm. The surface quality of the casing after force control grinding is higher.
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Key words:
- casing /
- robot /
- grinding /
- path planning
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