复杂曲面机器人抛磨路径规划与姿态平滑

Path Planning and Pose Smoothing for Robotic Polishing of Complex Surfaces

摘要: 针对复杂曲面叶片机器人抛磨中路径覆盖难以与工艺参数对应、传统刀位姿点离散难以兼顾轮廓精度和抛磨头姿态连续性的问题，提出一种基于曲面物理映射和弦高–姿态双重约束的路径规划方法。以NURBS曲面为基础，建立参数域与实际覆盖长度的映射关系；根据抛磨头有效宽度和搭接率确定最大允许行距，据此生成加工路径框架。进一步以弦高误差和末端姿态偏转角共同确定刀位点，经过坐标转换后规划出完整的机器人抛磨路径。结果表明，所提方法在满足弦高误差要求的同时，可减小姿态变化峰值。恒力抛磨试验中，叶片表面粗糙度由Ra > 1.6 μm降至Ra = 0.312 μm。

Abstract: To address the mismatch between path coverage and process parameters, as well as the difficulty of conventional tool-pose point discretization in simultaneously ensuring profile accuracy and polishing-head orientation continuity during robotic polishing of complex blade surfaces, a path-planning method based on surface physical mapping and chord-height-orientation dual constraints is proposed. Using a NURBS representation of the blade surface, a mapping between the parametric domain and the actual coverage length is established. The maximum allowable path spacing is determined from the effective polishing width and overlap ratio, based on which the machining path framework is generated. Chord-height error and end-effector orientation deviation are then jointly used to determine tool-pose points. After coordinate transformation, a complete robotic polishing path is obtained. Results show that the proposed method satisfies the chord-height tolerance while reducing orientation-change peaks. Constant-force polishing experiments reduce the surface roughness from Ra > 1.6 μm to Ra 0.312 = μm.