Study on flexible adaptive trajectory planning for blade robot abrasive cloth wheel polishing

doi:10.11996/JG.j.2095-302X.2025040874

Abstract

Abstract:

In the blade complex curved parts polishing processing, the existing trajectory planning methods mainly consider the polishing contact as a geometrical problem, and do not adequately consider the effects of the polishing tool flexible deformation and material removal, resulting in errors in trajectory planning. In order to improve the blade surface processing accuracy, the influence of abrasive cloth wheel flexible deformation and contact surface material removal on the step and line spacing was studied. Firstly, the contact area was analyzed and the material removal model was established. Then, the step length and row spacing for the flexible adaptive polishing path points were calculated, and the constant feed speed was employed for interpolation. Secondly, the NURBS curve of the blade polishing region was extracted, and the trajectory points of blade surface polishing were generated via offline simulation. Finally, the test verification was conducted on a constructed polishing platform, the surface roughness of blade concave and convex reached R_a≤0.3 μm, the leading and trailing edges reached R_a≤0.2 μm, and the total polishing efficiency increased by about 9.40%. It was proved that the flexible adaptive trajectory planning method could effectively improve the surface machining accuracy and machining efficiency.

Key words: trajectory planning, abrasive cloth wheel polishing, NURBS curve, material removal, flexible adaptation

CLC Number:

ZHANG Jingjing, GU Zhengzhao, WANG Junqing, LIU Jia. Study on flexible adaptive trajectory planning for blade robot abrasive cloth wheel polishing[J]. Journal of Graphics, 2025, 46(4): 874-882.

Figures/Tables 15

Table 1 Simulation parameters of abrasive cloth wheel and blade materials

参数	弹性模量/GPa	泊松比
百叶轮	0.03	0.04
叶片	220.00	0.30

Fig. 1 Simulation of macroscopic contact between abrasive cloth wheel and blade

Fig. 2 Contact diagram at element A

Fig. 3 Step size calculation diagram

Fig. 4 Improved step size calculation diagram

Fig. 5 Schematic diagram of line spacing calculation of polishing path

Table 2 Polishing process parameters

参数	数值
叶片进给速度v_f	0.2 mm/min
快速进给速度v_k	1.0 mm/min
百叶轮主轴转速v_s	33.4 m/s
法向接触力F_n	30 N (叶盆/叶背) 10 N (前缘/后缘)
弦高误差εʹ	0.08 mm
残留高度	0.01 mm
Preston系数k_p	1

Table 3 Comparison of step size/line spacing before and after improvement/mm

参数	改进前	改进后
步长	9.254	13.087
行距	20	15

Fig. 6 Comparison of blade back trajectory planning algorithms ((a) NURBS curve trajectory simulation; (b) Flexible adaptive NURBS curve trajectory simulation)

Fig. 7 Comparison polishing time and track point before/after improvement (a) Improved comparison of polishing time before and after polishing; (b) Improving the number of track points before and after polishing)

Fig. 8 Industrial robot polishing blade device

Fig. 9 Robotic belt force-controlled adaptive grinding blades ((a) Before grinding; (b) After grinding)[21]

Fig. 10 Robotic belt grinding for contour errors inverse compensation trajectory method ((a) Grinding integral discs; (b) Leaf back three-dimensional surface morphology) [22]

Fig. 11 Comparison blades polishing before and after (a) Convex before polishing; (b) Convex after polishing; (c) Concave before polishing; (d) Concave after polishing; (e) After leading edge polishing; (f) After trailing edge polishing

Fig. 12 Comparison of blade surface roughness measurement values ((a) Convex; (b) Concave; (c) Leading edge; (d) Trailing edge)

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