Double-sided Symmetric Polishing Trajectory Planning Method for Aero-engine Blades Based on Robot Seventh Axis Development

MA Xiaolong; ZHANG Xueqian; LIU Jia; LI Xiuhong; CHENG Long

doi:10.16490/j.cnki.issn.1001-3660.2025.14.012

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Surface Technology ›› 2025, Vol. 54 ›› Issue (14) : 128-140. DOI: 10.16490/j.cnki.issn.1001-3660.2025.14.012

Double-sided Symmetric Polishing Trajectory Planning Method for Aero-engine Blades Based on Robot Seventh Axis Development

MA Xiaolong^1,2, ZHANG Xueqian^1,2, LIU Jia^1,2,*, LI Xiuhong^1,2, CHENG Long^1,2

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Abstract

It is an improved blade surface polishing path planning method, which realizes the high efficiency and high surface quality consistency of blade polishing. The unstable polishing caused by the one-sided force on the blade during single-sided polishing is an obstacle to the good surface shape and integrity of the blade after polishing. The work aims to investigate the symmetric polishing path planning of the blade.
In order to realize the one-to-one correspondence when the double-sided polishing wheel contacts the blade, the cross-section lines of the concave and convex surfaces of the blade are extracted as the basis of the polishing path planning, and the mean line of the cross-section line is solved after discrete sampling of the cross-section line. The symmetric polishing trajectory of the blade is established based on the normal of the mean line, and the one-to-one corresponding double-sided polishing path is obtained by extending the normal of each discrete point to the concave and the convex surfaces from the starting end of the mean line. In order to achieve consistent contact between the impeller and the blade surface during the polishing process, the attitude constraint equations of the robot are constructed based on the normal vectors of the mean line to optimize the robot's end motion trajectory. Finally, the seventh axis control model of the robot is established on the basis of the distance of the polishing path on both sides of the blade, combined with the structural characteristics of the double-sided polishing platform. On the basis of the standard four-point TCP calibration method, the calibration applicable to the internal coordinate system is improved to solve the blade clamping deviation and finally realize the double-sided symmetric polishing of the blade.
Two aero-engine blades are selected to analyze the minimum radius of curvature of the concave and convex surfaces, and to determine the parameters of blade polishing, such as the size of the polishing wheel, the abrasive size, and the rotational speed. The double-sided symmetric polishing trajectory planning and actual polishing experiments are carried out. Compared with the double-sided polishing path based on the planning of the normal direction of the blade cross-section curve, the method proposed has a smaller normal contact error, which can better ensure the integrity of the shape of the blades during the polishing. The experimental results show that the average roughness of the two blade surfaces is reduced from the initial 0.5 μm and 0.8 μm to 0.29 μm and 0.36 μm, respectively. In terms of blade shape contour error, these two blades were reduced from the maximum contour error of 1.301 mm and 0.384 mm to an average cross-section contour error of 0.449 mm and 0.137 mm, respectively. Compared with that before polishing, the mean and variance of the surface roughness after polishing are greatly reduced. In addition, the use of simultaneous polishing on both sides reduces the polishing time by 50%.
The method proposed takes the mean line as the basis of blade polishing path planning and robot end attitude constraints, and the theoretical analysis and experimental verification show that the blade polishing path planning method is feasible and effectively improves the consistency of blade surface processing quality and polishing efficiency. It can provide theoretical basis for the high surface quality, high contour consistency and polishing efficiency of the robot double-sided blade polishing.

Key words

blade / robot / flap wheel / symmetric polishing / trajectory planning

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MA Xiaolong, ZHANG Xueqian, LIU Jia, LI Xiuhong, CHENG Long. Double-sided Symmetric Polishing Trajectory Planning Method for Aero-engine Blades Based on Robot Seventh Axis Development[J]. Surface Technology. 2025, 54(14): 128-140 https://doi.org/10.16490/j.cnki.issn.1001-3660.2025.14.012

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