Research On Polishing Robot Trajectory Planning Based On 3D Measurement Technology

Turbine blades are a key component,the surface quality of which determines performance and efficiency of the steam turbine. Long-term working in the harsh environment, leaves are susceptible to wear and corrosion, which gives the blade surface quality and productivity of a higher requirement.The traditional way of hand-polished blade exhibits complex process, low productivity and poor surface quality consistency, then, robot began to be used in automated polishing system. The domestic system was less commercialized, and the difference between the system versatility, so this paper works onkey technology researchon turbine blade polishing robot trajectory planning, committed to the development of a dedicated off-line programming system.Digital modeling technology on turbine Blade was studied.Triangular surface mesh vertex data and triangle information were obtainedthrough reading the STL file triangular facets informationone by one; with use of wing edge structure, rebuilded the grid model, and establishedadjacent tablesof mesh vertices, edges and triangular facets,then designed C++ data structuresfor model storage; in mesh optimization process, based on the hole polygon boundary information, achieveing grid optimization. Whencalculatingmesh surface geometry, hessian matrix and shape area weights were introducedand vertex normal vector and curvature informationwere obtained.Tool path generation technology on the turbine blade belt polishing was studied.with cross-sectional plane intersection algorithm by controlling the height of the machined surface of maximum residue to obtain cross-sectional plane spacing, contact wheel tool contact dataswere computedbased grid adjacencies, and remove redundant tool contacts by controlling step. Local interference arbor was analyzedand tool axis optimizationalgorithm based onαsearchwas improved,and improved the tool axis vector calculation efficiency, then achievedtool path generationwithout interference.Robot trajectory generation technology are studied,and the cutter location data coordinate transformation was achieving, and the robot end position and orientation of the robot base coordinates was obtained. Using the DH method to established a Staubli TX90 L robot kinematics model and a robot DH parameter list, and analyzedits forward kinematics simply, and based on which, the inverse kinematics algorithm to calculate its 6 joint angle values was studied.The post-processing technology for cutter location dataswas studied to generate robot motion program files. Modeling the robot and tooling in the Pro/E, and based on Qt development environment and Open GL library robot motion simulation platformwas built.The calculation method of posewas studied byloading simulation model, and real-time calculation of pose of the robot and tooling model was achieved, while redraw model, and completed polished robot animated simulation.A robot off-line programming system polishing turbine blades was designed based Qt software and Open GL libraries, the robot trajectory planning algorithm technology-related, post-processing technology and motion simulation technology are programmed,and designed framework of off-line programming system, and created a system data structure,and achieved importing a three-dimensional blade model, showing model and polishing trajectory generation.