整体叶盘机器人砂带磨削轨迹优化及其实验

整体叶盘具有结构复杂、材料难加工的特点，其加工精度和表面质量对航空发动机整体性能有至关重要的影响。当前，机器人砂带磨削技术已应用于整体叶盘类复杂曲面的磨削加工。然而，在磨削轨迹规划时多采用目标点均布的方式，这就要求目标点必须足够多，从而导致加工效率过低。基于改进的等弦高误差法对整体叶盘机器人砂带磨削的磨削轨迹进行优化分析，并开展相关仿真与实验验证。结果表明:改进的等弦高误差法可根据曲率变化优化磨削轨迹，减少目标加工点数量，从而提高加工效率。经实验验证，与轨迹优化前相比，优化后整体叶盘的加工效率提高了42.9%；优化后的表面粗糙度R_a可达0.26 μm，且叶片一致性较好，尤其是在曲率变化较大的位置。 

Trajectory optimization and experiment of robotic belt grinding blisk

The blisk has the characteristics of complex structure and difficult material processing. Its machining accuracy and surface quality have a crucial impact on the overall performance of the aero-engine. At present, the robotic belt grinding has been applied to grinding the complex surface of the blisk. However, since the target points are usually distributed evenly in the grinding trajectory plan, it requires a large amount of points, which leads to low processing efficiency. In this paper, the trajectory is optimized based on the improved equal chord height error method, and relevant simulation and experimental verification are carried out. The results show that the improved equal chord height error method can optimize the grinding trajectory according to the curvature change, reduce the number of target machining points and improve the machining efficiency. Experiments indicate that the machining efficiency of the blisk, compared with that before trajectory optimization, is increased by 42.9%. The surface roughness R_a after optimization can reach 0.26 μm, and the blade consistency is good, especially in the positions where the curvature changes greatly.