Application of novel force control strategies to enhance robotic abrasive belt grinding quality of aero-engine blades

查看全文 作　　者：Xiaohu [1]XU;Dahu [2,3]ZHU;Haiyang [4]ZHANG;Sijie [1,4]YAN;Han [1]DING

机构地区：[1]State Key Laboratory of Digital Manufacturing Equipment and Technology,Huazhong University of Science and Technology,Wuhan 430074,China;[2]Hubei Key Laboratory of Advanced Technology for Automotive Components,Wuhan University of Technology,Wuhan 430070,China;[3]Hubei Collaborative Innovation Center for Automotive Components Technology,Wuhan University of Technology,Wuhan 430074,China;[4]Wuxi CRRC Times Intelligent Equipment Co.,Ltd.,Wuxi 214174,China

出　　处：《Chinese Journal of Aeronautics》索引2019年第32卷第10期,共15页

基　　金：National Nature Science Foundation of China(Nos.51675394and 51375196);National Key Research and Development Program of China(No.2017YFB1303404);State Key Laboratory of Digital Manufacturing Equipment and Technology of China(No.DMETKF2018018);Fundamental Research Funds for the Central Universities of China(No.2017II33GX);the Key R&D Program of Jiangsu Province(No.BE2015005) 摘　　要：Robotic belt grinding has emerged as a finishing process in recent years for machining components with high surface finish and flexibility.The surface machining consistency,however,is difficult to be guaranteed in such a process.To overcome this problem,a method of hybrid force-position control combined with PI/PD control is proposed to be applied in robotic abrasive belt grinding of complex geometries.Voltage signals are firstly obtained and transformed to force information with signal conditioning methods.Secondly,zero drift and gravity compensation algorithms are presented to calibrate the F/T transducer which is installed on the robot end-effector.Next,a force control strategy combining hybrid force-position control with PI/PD control is introduced to be employed in robotic abrasive belt grinding operations where the force control law is applied to the Z direction of the tool frame and the positon control law is used in the X direction of the tool frame.Then,the accuracy of the F/T transducer and the robotic force control system is analyzed to ensure the stability and reliability of force control in the robotic grinding process.Finally,two typical cases on robotic belt grinding of a test workpiece and an aero-engine blade are conducted to validate the practicality and effectiveness of the force control technology proposed. 关键词：GRAVITY COMPENSATION Hybrid force-position CONTROL PI/PD CONTROL ROBOTIC belt GRINDING Zero DRIFT COMPENSATION

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Application of novel force control strategies to enhance robotic abrasive belt grinding quality of aero-engine blades

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