Kinematics analysis and trajectory planning of in-situ grinding robot for aero-engine blade
Kinematics analysis and trajectory planning of in-situ grinding robot for aero-engine blade
- Author(s): L. Wang 1 ; X. Zeng 1 ; Y. Li 1 ; K. Qi 1 ; X. Lu 1 ; J. Tang 1
- DOI: 10.1049/icp.2021.0443
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- Author(s): L. Wang 1 ; X. Zeng 1 ; Y. Li 1 ; K. Qi 1 ; X. Lu 1 ; J. Tang 1
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View affiliations
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Affiliations:
1:
Aviation engineering institute, Civil Aviation University of China , Tianjin 300300, China
Source:
CSAA/IET International Conference on Aircraft Utility Systems (AUS 2020),
2021
p.
965 – 970
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Affiliations:
1:
Aviation engineering institute, Civil Aviation University of China , Tianjin 300300, China
- Conference: CSAA/IET International Conference on Aircraft Utility Systems (AUS 2020)
- DOI: 10.1049/icp.2021.0443
- ISBN: 978-1-83953-419-5
- Location: Online Conference
- Conference date: 18-21 September 2020
- Format: PDF
In order to meet the needs of in-situ grinding repair of aero-engine blade, a simple and stable in-situ blade grinding robot model was designed. The kinematic model of the manipulator is established by using the D-H method. The inverse kinematics was solved by a specific algebraic method, and the analytic relationship model between the spatial pose parameters at the end of the grinding head and the joint variables of the in-situ blade grinding robot was derived. On this basis, the trajectory planning simulation of the robot model is simulated by Matlab, and the continuous and smooth displacement, angle, velocity and acceleration curves of the robot are obtained. The results show that the established kinematic model and the analytical relationships of each joint motion parameters obtained by the inverse solution are suitable for the trajectory planning of the in-situ blade grinding robot, which provides the basis for the control planning of the in-situ blade grinding robot and lay the foundation for the implementation of the motion control of the robot.
Inspec keywords: trajectory control; industrial manipulators; manipulator kinematics; path planning; aerospace engines; blades; grinding; motion control
Subjects: Aerospace control; Robot and manipulator mechanics; Engines; Manipulators; Machining; Spatial variables control; Mechanical components; Robotics