Robotic grinding of casing air passage and support plate surface

This experiment presents the robot grinding technology for the airway and support plate surface of the aeroengine casing. A high-bandwidth and long-overhang adaptive grinding tool is developed for the airway surface and supporting plate surface of the casing. Based on the force analysis of the grinding tool, the PID force controller is further designed, and the Robotmaster is used for grinding tool path planning. A comparative experiment between the with-force controlled scheme and the without-force controlled grinding scheme was carried out on the experimental casing. The results show that the force error of the with-force controlled grinding scheme is less than ±1.5 N, and the average surface roughness is 1.450 μm. However, the force of the without-force controlled grinding scheme is 20.0 N, and the average surface roughness is 2.069 μm. The surface quality of the casing after force control grinding is higher.