Force impact suppression of contact transition state in robot grinding and polishing of industrial blades

Abstract

When using robots to carry out grinding and polishing processing of industrial blades, due to factors such as non-zero approach speed and discontinuous dynamic characteristics, the robot grinding and polishing processing has contact force impact and oscillation problems during the contact transition process, which seriously affects the quality of the blade surface processing, contour accuracy, and control system stability. In order to solve the problem of large impact of contact force in robot grinding and polishing, this paper proposes an optimization method for impact suppression in the transition state of robot grinding and polishing. Taking the robot abrasive belt grinding and polishing as the research object, the adaptive weighted particle swarm algorithm is used to optimize the input shaper and realize the parameter self-tuning of the input shaping technology. The experimental results show that the stabilization time is shortened by about 86.5%, and the maximum overshoot of contact force is reduced by about 88.5% during contact transition. The method proposed in this paper can realize the smooth transition of the blade grinding and polishing process, does not need system modeling, effectively shorten the system stabilization time, reduce the maximum overshoot, and accelerate the system response speed, and it has strong stability and flexibility.