Designing and Optimization of an Off-line Programming System for Robotic Belt Grinding Process

Off-line programming （OLP） system becomes one of the most important programming modules for the robotic belt grinding process, however there lacks research on increasing the grinding dexterous space depending on the OLP system. A new type of grinding robot and a novel robotic belt grinding workcell are forwarded, and their features are briefly introduced. An open and object-oriented off-line programming system is developed for this robotic belt grinding system. The parameters of the trimmed surface are read from the initial graphics exchange specification （IGES） file of the CAD model of the workpiece. The deBoor-Cox basis function is used to sample the grinding target with local contact frame on the workpiece. The numerical formula of inverse kinematics is set up based on Newton＇s iterative procedure, to calculate the grinding robot configurations corresponding to the grinding targets. After the grinding path is obtained, the OLP system turns to be more effective than the teach-by-showing system. In order to improve the grinding workspace, an optimization algorithm for dynamic tool frame is proposed and performed on the special robotic belt grinding system. The initial tool frame and the interval of neighboring tool frames are defined as the preparation of the algorithm. An optimized tool local frame can be selected to grind the complex surface for a maximum dexterity index of the robot. Under the optimization algorithm, a simulation of grinding a vane is included and comparison of grinding workspace is done before and after the tool frame optimization. By the algorithm, the grinding workspace can be enlarged. Moreover the dynamic tool frame can be considered to add one degree-of-freedom to the grinding kinematical chain, which provides the theoretical support for the improvement of robotic dexterity for the complex surface grinding.

On Energy Assessment of Titanium Alloys Belt Grinding Involving Abrasive Wear Effects

Improved energy utilisation,precision,and quality are critical in the current trend of low-carbon green manufactur-ing.In this study,three abrasive belts were prepared at various wear stages and characterised quantitatively.The effects of abrasive belt wear on the specific grinding energy partition were investigated by evaluating robotic belt grinding of titanium plates.A specific grinding energy model based on subdivided tangential forces of cutting and sliding was developed for investigating specific energy and energy utilisation coefficient EUC.The surface mor-phology and Abbott–Firestone curves of the belts were introduced to analyse the experimental findings from the per-spective of the micro cutting behaviour.The specific grinding energy increased with abrasive belt wear,especially when the belt was near the end of its life.Moreover,the belt wear could lead to a predominance change of sliding and chip formation energy.The highest EUC was observed in the middle of the belt life because of its retained sharp cutting edge and uniform distribution of the grit protrusion height.This study provides guidance for balancing the energy consumption and energy utilization efficiency of belt grinding.

Allowance Extraction Considering of Inner and Outer Contour and Experimental Research on Belt Grinding of Hollow Blade

Aero-engine fan blades of ten use a cavity structure to improve the thrust-to-weight ratio of the aircraft.However,the use of the cavity structure brings a series of difficulties to the manufacturing and processing of the blades.Due to the limitation of blade manufacturing technology,it is difficult for the internal cavity structure to achieve the designed contour shape,so the blade has uneven wall thickness and poor consistency,which affects the fatigue performance and airflow dynamic performance of the blade.In order to reduce the influence of uneven wall thickness,this paper proposes a grinding allowance extraction method considering the double dimension constraints(DDC)of the inner and outer contours of the hollow blade.Constrain the two dimensions of the inner and outer contours of the hollow blade.On the premise of satisfying the outer contour constraints,the machining model of the blade is modified according to the distribution of the inwall contour to obtain a more reasonable distribution of the grinding allowance.On the premise of satisfying the contour constraints,according to the distribution of the inwall contour,the machining model of the blade is modified to obtain a more reasonable distribution of the grinding allowance.Through the grinding experiment of the hollow blade,the surface roughness is below Ra0.4μm,and the contour accuracy is between-0.05~0.14 mm,which meets the processing requirements.Compared with the allowance extraction method that only considers the contour,the problem of poor wall thickness consistency can be effectively improved.It can be used to extract the allowance of aero-engine blades with hollow features,which lays a foundation for the study of hollow blade grinding methods with high service performance.

Analysis and prediction of surface roughness for robotic belt grinding of complex blade considering coexistence of elastic deformation and varying curvature

Precision prediction of machined surface roughness is challenging facing the robotic belt grinding of complex blade,since this process is accompanied by significant elastic deformation.The resulting poor prediction accuracy,to a great extent,is attributed to the existing prediction model which less considers the dynamics.In this paper,an improved scallop height model is developed to predict and assess the machined surface roughness by taking into account the elastic deformation and the varying curvature of blade,then robotic belt grinding experiments are carried out to evaluate the proposed model from the perspective of surface roughness.Finally factors that influence the scallop height are analyzed,and the suitable empirical equation of surface roughness is proposed to assess and predict the surface quality from the aspect of blade concave and convex surface by adopting the constant scallop height machining.

A Study on Aerodynamic Performance of Diff erent Bionic-Structured Surfaces via Belt Grinding

The structural characteristics of the surfaces of sharkskin have great influence on their aerodynamic performance.It has been proved that the sharkskin’s ribbed structure can improve the aerodynamic performance of the parts up to 10%.At present,the main processing methods for this structure are laser,rolling,etc.,which have low efficiency and poor surface integrity.Belt grinding is widely used in the surface grinding and polishing.It plays an important role in improving the surface integrity and can realize the micro-structure machining at the same time.To achieve drag reduction,based on the characteristics of drag reduction of Bionic-Ribbed Structures(BRS),diff erent BRS(V,trapezoid and wave)on a blade were processed and studied.First,this paper introduces the theory of drag reduction induced by BRS and processing methods of diff erent BRS on a blade by belt grinding,and carried out the verification of the belt-grinding methods.Then,diff erent BRS models were established on the blade with diff erent tip angles,and the aerodynamic performance was analyzed through simulation.It was found that the low-velocity layer near the BRS decreased when tip angle increased.Its wall shear stress also increased and tip angle of 45o had the best performance regardless of which BRS was.Some suggestions were given for belt grinding.The velocity along height from valley of BRS and velocity streamline was demonstrated.Secondary vortex was observed.Velocity gradient and vortex were the main reasons for the diff erence of wall shear stress.

A Novel Approach for the Fabrication of Sharkskin Structured Bionic Surfaces with Hydrophobic Wettability:Laser Processing and Ordered Abrasive Belt Grinding

A new process for the fabrication of sharkskin bionic structures on metal surfaces is proposed.The sharkskin bionic surface was successfully machined on the surface of IN718 by laser sequencing of the abrasive belt surface,laser processing of the layered scale-like structure,and ribbed texture grinding.The flexible contact properties of belt grinding allow ribbed structures to be machined uniformly on a hierarchical,scale-like microstructure.Sharkskin bionic microstructures with radii greater than 75µm were prepared after parameter optimisation.The influence of processing parameters on the geometrical accuracy of the microstructure was investigated,the microstructure microform and elemental distribution were analyzed,and the relationship between the ribbed microstructure and chemical properties of the surface of the bionic sharkskin on wettability was revealed.The results indicate that reducing the laser power and increasing the laser scan rate can reduce the laser thermal effect and improve the microstructure processing accuracy.The laser ablation process is accompanied by a violent chemical reaction that introduces a large amount of oxygen and carbon elements and infiltrates them at a certain depth.The wettability of the surface undergoes a transition from hydrophilic(contact angle 69.72°)to hydrophobic(contact angle 131.56°)due to the adsorption of C-C/C-H and the reduction of C=O/O=C-O during the placement process.The ribbed microstructure changes the solid-liquid contact on the surface into a solid-liquid-gas contact,which has an enhanced effect on hydrophobicity.This study is a valuable guide to the processing of hydrophobic layered bionic microstructures.

The Method and Experiment Research on Down-stroke Abrasive Belt Grinding under Micro Feeding for Noise Reduction Surface

This paper proposes a down-stroke abrasive belt grinding under micro feeding for noise reduction surface.Firstly,a physical model of processing under micro feeding for noise reduction structure was established.Based on the flexible contact characteristics of abrasive belt grinding and Hertz contact theory,a mathematical model suitable for this method was established,considering vibration and abrasive belt wear.Secondly,a simulation analysis was carried out.Then,an experimental platform was built to analyze the influence of process parameters on surface roughness and surface microstructure,with the model verified.Finally,the propeller with pit structure was simulated,and the noise reduction performance of the propeller under this method and general abrasive belt grinding was compared and analyzed.The results show that the maximum error of the model based on proposed method does not exceed 10%,and the coincidence degree of the minimum error point can reach 90%at lower feed speed and higher linear velocity of the abrasive belt.The noise reduction effect of the propeller with pit-shaped surfaces can reach 35%.Through the above analysis,the proposed method can be used for the processing of noise reduction surfaces.