Abstract
Aircraft-engine blade has a free-form surface in space, which is extremely complicated. And the surface milling must be polished completely to eliminate the surface residual texture and stress concentration. To solve this problem, an intelligent digital compliant grinder with active and passive compliance, double-end floating and multi-station polishing is independent-designed. Besides, a novel impedance controller based on particle swarm optimization algorithm is proposed, which can realize adaptive adjustment of the impedance parameters. And it can maintain the contact force between the grinding tool and the workpiece to a constant value. The experimental results show that the proposed method works well and the surface roughness and the machining consistency of the blade are greatly improved with the intelligent digital compliant grinder for active contact force. Specifically, the surface roughness of the blade reduces from 0.730 μm to 0.065 μm, and the force fluctuation is less than 1 N, therefore, leading to a better surface quality.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Tian, F., Lv, C., Li, Z., et al.: Modeling and control of robotic automatic polishing for curved surfaces. CIRP J. Manufact. Sci. Technol. 14, 55–64 (2016)
Gao, H., Zhao, Z., Sun, Y.W.: Recent development of the aero-engine impeller and blade surface polishing technology. Adv. Mater. Res. 135, 7–12 (2010)
Liao, L., Xi, F., Liu, K.: Adaptive control of pressure tracking for polishing process. ASME. J. Manuf. Sci. Eng. 132(1), 011015 (2010)
Zhong, Z.W.: Recent advances in polishing of advanced materials. Adv. Manuf. Process. 23(5), 8 (2008)
Duan, J., Shi, Y., Li, X., et al.: Adaptive polishing for blisk by flexible grinding head. Acta Aeronautica et Astronautica Sinica 32(5), 934–940 (2011)
Lopes, A., Almeida, F.: A force-impedance controlled industrial robot using an active robotic auxiliary device. Robot. Comput. Integr. Manuf. 24(3), 299–309 (2008)
Dai, H., Yuen, K.M., Elbestawi, M.A.: Parametric modelling and control of the robotic grinding process. Int. J. Adv. Manuf. Technol. 8(3), 182–192 (1993)
Zhang, J., Liu, G., Zang, X., et al.: A hybrid passive/active force control scheme for robotic belt grinding system. In: 2016 IEEE International Conference on Mechatronics and Automation. IEEE (2016)
Tyapin, I., Kaldestad, K.B., Hovland, G.: Off-line path correction of robotic face milling using static tool force and robot stiffness. In: IEEE/RSJ International Conference on Intelligent Robots Systems. IEEE (2015)
Straub, B.M., Gerke, M., Pahl, M.: A systematic technique to estimate positioning errors for robot accuracy improvement using laser interferometry based sensing. Mech. Mach. Theory 40(8), 879–906 (2005)
Klimchik, A., Pashkevich, A., Chablat, D., et al.: Compliance error compensation technique for parallel robots composed of non-perfect serial chains. Robot. Comput.-Integr. Manuf. 29(2), 385–393 (2012)
Dumas, C., Caro, S., Garnier, S., et al.: Joint stiffness identification of six-revolute industrial serial robots. Robot. Comput.-Integr. Manuf. 27(4), 881–888 (2011)
Klimchik, A., Ambiehl, A., Garnier, S., et al.: Efficiency evaluation of robots in machining applications using industrial performance measure. Robot. Comput.-Integr. Manuf. 48, 12–29 (2017)
Huang, H., Gong, Z.M., Chen, X.Q., et al.: Robotic grinding and polishing for turbine-vane overhaul. J. Mater. Process. Technol. 127(2), 140–145 (2002)
Liu, L., Ulrich, B.J., Elbestawi, M.A.: Robotic grinding force regulation: design, implementation and benefits. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp. 258–265. IEEE (1990)
Acknowledgements
This work was supported by the National Key Research and Development Program of China under Grant No. 2017YFB1303401, the National Natural Science Foundation of China under Grant Nos. 91748114 and 51535004.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Xie, Q., Zhao, H., Wang, T., Ding, H. (2019). Adaptive Impedance Control for Robotic Polishing with an Intelligent Digital Compliant Grinder. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11745. Springer, Cham. https://doi.org/10.1007/978-3-030-27529-7_41
Download citation
DOI: https://doi.org/10.1007/978-3-030-27529-7_41
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-27528-0
Online ISBN: 978-3-030-27529-7
eBook Packages: Computer ScienceComputer Science (R0)