Robot-assisted Blade Polishing and Process Control Based on SprutCam Offline Programming Software

Abstract

This paper proposes a regional polishing method based on SprutCam offline software for blade free-form surface parts. The experiment described the establishment of the robot linkage coordinates system, the analysis of inverse kinematics, the establishment of the digital model of the blade and the division of the processing area using the Kawasaki robot as an example. The signal feedback control between the PLC and the robot is used to realize the coordinated movement between the robot arm and the polishing platform, and the blade is polished in different areas. The offline programming software is used to adjust the polishing process in real time and plan the processing trajectory to achieve the whole processing of blades avoids collisions during processing and improves processing efficiency.