A novel trajectory planning method based on reverse compensation of profile error for robotic belt grinding of blisk

Trajectory planning for robotic belt grinding of blisk is considered to be a challenging task because of its extremely complex and special structure. However, the traditional trajectory planning methods do not take into account the complexity of the blisk structure and profile error control, resulting in low accuracy and efficiency. To solve this problem, a novel adaptive trajectory planning method based on reverse compensation for profile error is proposed. Firstly, a reverse compensation strategy for profile error is proposed by analyzing the robotic belt grinding process and blisk structure. Secondly, combining with the proposed reverse compensation strategy for profile error, a novel adaptive trajectory planning method based on step length - row spacing optimization is proposed. Finally, the simulation and experiments for robotic belt grinding of blisk are carried out to verify the proposed method. The experimental results show that the proposed method has more advantages in machining efficiency, surface roughness and profile accuracy compared with the existing method. The proposed method can reduce the average profile error by 33.5 %, improve the machining efficiency by 20.5 %, and decrease the average surface roughness of the blade concave and the blade convex to 0.30 μm and 0.31 μm, respectively, which verifies the effectiveness and superiority of the proposed method.