Trajectory planning of robot-assisted abrasive cloth wheel polishing blade based on flexible contact

Industrial robot-assisted abrasive cloth wheel (ACW) accurately polish blades is considered to be a challenging task, and it is necessary to realize the digitalization of the process. Due to the flexible contact properties of the abrasive cloth wheel and the curvature change of the blade surface, the microscopic material removal is not uniform and the blade surface roughness value is large. In this paper, a finite element simulation model of the contact between the abrasive cloth wheel and the blade is established, and analyze the contact profile and pressure distribution pattern in the contact area. Then use NURBS curve to extract the blade polishing area curve, and considering the flexible contact deformation between the abrasive cloth wheel and the blade surface when planning the step length and row spacing. The flexible adaptive trajectory planning method is simulated by offline programming software. Finally, experiments were carried out on a four-station wheel changing polishing platform. Simulation and experiments results show that the proposed flexible adaptive trajectory planning method can make the surface roughness of the convex and the concave R_a≤ 0.3 μ m , the surface roughness of the leading and trailing edges R_a≤ 0.2 μ m , and the total polishing efficiency increased by about 9.4