Enhancement and evaluation in path accuracy of industrial robot for complex surface grinding

Lower path accuracy is an obstacle to the application of industrial robots in intelligent and precision grinding complex surfaces. This paper proposes a novel path accuracy enhancement strategy and different evaluation methods for a six-degree-of-freedom industrial robot FANUC M710ic/50 used for grinding an aero-engine blade. Six groups of theoretical tool paths individually planned on this complex surface were obtained using the iso-parametric method and the constant chord height method. Then the actual paths of the robot were dynamically recorded by a laser tracker with a high frequency. A revised Levenberg-Marquardt and Differential Evolution hybrid algorithm was proposed to improve the absolute robotic positioning accuracy by considering the average curvature variation rate, the arc length and the number of cutter contact points on planning paths. The results showed that the maximum positioning error had been drastically reduced from 0.792 mm to 0.027 mm. Based on the redefinition of robotic path accuracy, including position accuracy and shape accuracy in this work, the methods MP-TLD, BP-TPD and MP-TID were proposed to evaluate the enhanced path accuracy. The evaluation results showed that the different path planning methods have almost little effect on path accuracy. Furthermore, the maximum path deviation evaluated by the MP-TLD method was reduced from 0.378 mm to 0.044 mm, evaluated by the BP-TPD method was reduced from 0.374 mm to 0.029 mm, and evaluated by the MP-TID method was reduced from 0.205 mm to 0.026 mm. It is concluded that these evaluation methods are basically valid and the average path accuracy value is about 0.035 mm, for present complex surface grinding with this typical industrial robot. Finally, the robotic grinding experiments of titanium alloy blades are conducted to further validate the effectiveness of the proposed method.     

A novel cartesian trajectory planning method by using triple NURBS curves for industrial robots

This article presents a novel method of robot pose trajectory synchronization planning. First of all, based on triple NURBS curves, a method of describing the position and orientation synchronization of the robot is proposed. Then, through considering geometric and kinematic constraints, especially angular velocity constraint, and employing bidirectional interpolation algorithm, a robot pose trajectory planning approach is developed, which has limited linear jerk, continuous bounded angular velocity and approximate optimal time, and does not need an optimization program. Ultimately, two robot pose paths, blade-shaped curve and fan-shaped curve, are utilized for simulations, and the results indicate that the proposed trajectory planning method can satisfy the given constraint conditions, i.e. the linear jerk is limited and the angular velocity is continuous bounded. The trajectory tracking experiments are further carried out on a 6-DOF industrial robot, and the results show that the proposed planning method can generate smooth trajectories to ensure the stability of the robot motion without impact in practical situations.     

TC17钛合金激光冲击温强化的数值模拟研究

目的掌握激光冲击温强化温度对强化效果的影响规律方法通过有限元模拟的方式,对TC17钛合金激光冲击温强化温度对残余应力和塑性变形的影响进行了初步研究。结果随着温度的增加,残余应力先增加后减少,当温度为200℃时,表面和深度方向的残余应力最大,此时基体最大残余应力达到-238 MPa。随着温度的增加,塑性变形先增加后减少,当温度为200℃时,塑性变形量达到最大。不同冲击顺序会影响材料的流动方向,后冲击的激光使材料向先冲击激光留下的凹坑运动,从而影响材料的表面形貌。仿真分析与验证实验的最大残余应力相差5%,从侧面证明了仿真结果的准确性。结论温度是影响激光冲击温强化效果的重要因素。TC17钛合金在200℃时的强化效果最好,所研究的模拟方法为激光冲击强化温度仿真提供了一种新思路。     

Robotic milling posture adjustment under composite constraints: A weight-sequence identification and optimization strategy

Industrial robots are widely used for milling complex parts in restricted spaces owing to their multiple degrees of freedom and flexible postures. To plan posture trajectory for robot machining with high precision under multiple constraints, this study establishes composite constraint models with constraint boundary solutions. An improved gray relation analysis model is adopted to identify the weight-sequences among the composite constraints. The correlation degrees of the postures of the robot can be dynamically quantified between arbitrary cutter locations by applying weight sequence identification, which is conducive to fulfilling attractive orientations in artificial potential fields. In addition, this study proposes an initial posture determination strategy based on the optimization principle of minimizing the rotated energy in global postures. Consequently, an artificial potential planning model is applied to the implement posture adjustment of the robot end effector. During simulation and experimental validation, the proposed posture adjustment strategies with optimized initial postures and identified weight-sequences achieve a significant improvement in both the six-joint motion performance and machining precision quality in robotic milling.