| Industrial robots developed on the basis of the automatic operation in the last 30 years. It can imitate some movements and controlling functions, and in according with variable booking process and track to achieve a variety of automatic operation systems. Industrial robots can complete a variety of jobs in three-dimensional space, for improving production efficiency, improving working conditions, reducing labor intensity and improving the competitiveness of enterprises playing an important role. With the depth and breadth of robot development, as well as rarising the level of robotic intelligence, robots have been applied in many fields, such as national defense and military, agricultural production, automobile and parts of the arc welding, spot welding, spraying, stamping, etc. In this paper, Industrial robots will be used in laser shock peening aircraft turbine blades, it will be a new applications.First, the paper describes the birth, development and application of industrial robots, and introduces laser shock peening in detail.Second, introduce the kinematics and dynamics analysis of 6-DOF serial robot, regarding the KUKA Company’s KR5 arc robot. Through the homogeneous transformation, establish the model of robot kinematics, and the forward kinematics and invesrse kinematics was solved. Obain the robot Jacobian matrix by the use of vector product, establish a linear function relationship between the space robot speed and angular velocity of the robot various reverse. Estabilsh a robot prototype by use of the three-demensional software Pro/E, and import into the simulation software ADAMS to simulate the kinematic, obtaining the more inruitive movement of the robot. Using Lagrangian to establish the dynamics equation and obtain the relationship in joint displacement, velocity and acceleration and driving torque or force.Third, seek 6-DOF serial robot work by the use of numerical method and graphical method, and introduce the general issue of robot path planning, the paper mainly discusses the used interpolation method of the trajectory planning. After interoduced the interpolation method, the paper carrys out simulation in the three-dimensional simulation software ADAMS, pre-understanding their operation by the simulation. In addition, introduce the KUKA Company’s KR5arc robot, describe the world coordinate system, joint coordinate system, the tool coordinate, base coordinate system and flange coordinate system in detail and give an example of trajectory planning for the following laser peened test preparation.Finally, do simulations of laser shock components. Select the turbine blades as the representative part. Because the turbine blades are formed by a series of successive reverse the irregular surface fan, so to determine the suface normal of a point is difficult. In this paper, obtain point clouds with the German GOM’s ATOS II scanning system by reverse engineering. After simplifying the point clouds, carry out leaf surface reconstruction to obtain leaf model and measure a point normal in Pro/E. In experiment, use laser equipment instead of laser system, use KR5arc robot to accurately the impact location of the part. In the robot system, establish a base coordinate system, and set the Z axis paralleling to the laser beam, the build a tool coordinate system in the shocking point, and the Z axis is the normal of the shocking point. Operate the robot by using micro button on the KCP to make the tool coordinate system with the base coordinate system completely overlap, and eventually the normal of the point coincide with the laser beam. Achieving laser peened turbine blades to improve the surrounding material stress state, improve the fatigue strength and extend the life becames possible by adjusting the blade position and orientation. |
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