Research On Optimization Technology Of Ultrasonic Assisted Abrasive Belt Grinding Processing System Based On Robot

The blade of an aero-engine is one of the most important components in the engine,and it is becoming more and more important to achieve efficient and high-precision manufacturing of the blade.The robot ultrasonic-assisted abrasive belt grinding and polishing processing system can effectively realize automatic processing and ensure the surface processing quality.The system consists of two parts: an industrial robot and an ultrasonic-assisted abrasive belt grinding and polishing device.However,when the current robot is processing the blade,its absolute positioning accuracy is low,and it is difficult to directly meet the high-precision processing requirements.For the ultrasonicassisted abrasive belt grinding and polishing device,although the research group has developed a functional prototype,it is found that there are still some defects in the structural design of the ultrasonic tool head in actual use,and its performance needs to be improved.In this context,in order to improve the absolute positioning accuracy of the robot and the reliability of the ultrasonic tool head,research on the optimization technology of the ultrasonic-assisted abrasive belt grinding and polishing processing system based on the robot is carried out.The main research contents include:(1)The design principle of the vibration transmission rod in the axial and longitudinal directions was studied,the modal analysis tool based on Ansys was studied,and the simple harmonic vibration work energy consumption of the system was studied.Analyzed the principles and deficiencies of the original design of the axial ultrasonic tool head,and proposed an optimization and improvement method for the axial ultrasonic tool head from the structural design based on theoretical design formulas and finite element analysis,so as to effectively improve the axial ultrasonic tool head technically.Tool head reliability.(2)Analyze the kinematic error and non-kinematic error sources of industrial robot errors,study the kinematic model of the robot based on the DH model,analyze the error factors and establish the error model,and verify the accuracy of the error model by carrying out simulation experiments.Researched the establishment of an objective function for the minimization of average precision,used the improved simulated annealing algorithm(Best-Simulated Annealing,Be-SA)to iteratively optimize the error parameters,corrected the kinematic model to greatly improve the precision,and carried out simulation experiments It is proved that Be-SA has faster convergence speed and higher optimization precision than other traditional algorithms.Based on the spatial error similarity,the spatial autoregressive model is used to predict and compensate the nonkinematics error at the end position,and the Be-SA is used to solve the model coefficients,thereby further improving the absolute positioning accuracy of the robot.(3)Carried out the experimental verification of the optimization technology of the processing system.An experimental platform for ultrasonic vibration abrasive belt grinding and polishing was built,and experiments were carried out to optimize and improve the frequency matching,vibration transmission stability and grinding and polishing effect of the ultrasonic tool head.It shows that the optimization has higher stability and grinding and polishing quality.An absolute positioning accuracy experimental platform was built,using a laser tracker to measure the actual position,using different algorithms to identify kinematic error parameters and correcting the kinematic model.The kinematic error is compensated at the end position,further improving the absolute positioning accuracy.The experimental verification results show that the research on the system optimization technology can effectively improve the absolute positioning accuracy of the robot and the reliability of the abrasive belt grinding and polishing device of the ultrasonic tool.