
Purpose
Considering the response lag and viscous slip oscillation of the system caused by cylinder piston friction during automatic polishing of aero-engine blades by a robotic pneumatic end-effector, the purpose of this study is to propose a constant force control method with adaptive friction compensation.


Design/methodology/approach
First, the mathematical model of the pneumatic end-effector is established based on the continuous LuGre model, and the static parameters of the LuGre model are identified to verify the necessity of friction compensation. Second, aiming at the problems of difficult identification of dynamic parameters and unmeasurable internal states in the LuGre model, the parameter adaptive law and friction state observer are designed to estimate these parameters online. Finally, an adaptive friction compensation backstepping controller is designed to improve the response speed and polishing force control accuracy of the system.


Findings
Simulation and experimental results show that, compared with proportion integration differentiation, extended state observer-based active disturbance rejection controller and integral sliding mode controller, the proposed method can quickly and effectively suppress the polishing force fluctuation caused by nonlinear friction and significantly improve the blade quality.


Originality/value
The pneumatic force control method combining backstepping control with the friction adaptive compensation based on LuGre friction model is studied, which effectively suppresses the fluctuation of normal polishing force.


Adaptive friction compensation control of robotic pneumatic end-effector based on LuGre model


Purpose
The application of thermal barrier coatings (TBCs) allows aero-engine blades to operate at higher temperatures with higher efficiency. The preparation of the TBCs increases the surface roughness of the blade, which impacts the thermal cycle life and thermal insulation performance of the coating. To reduce the surface roughness of blades, particularly the blades with small size and complex curvature, this paper aims to propose a method for industrial robot polishing trajectory planning based on on-site measuring point cloud.


Design/methodology/approach
The authors propose an integrated robotic polishing trajectory planning method using point cloud processing technical. At first, the acquired point cloud is preprocessed, which includes filtering and plane segmentation algorithm, to extract the blade body point cloud. Then, the point cloud slicing algorithm and the intersection method are used to create a preliminary contact point set. Finally, the Douglas–Peucker algorithm and pose frame estimation are applied to extract the tool-tip positions and optimize the tool contact posture, respectively. The resultant trajectory is evaluated by simulation and experiment implementation.


Findings
The target points of trajectory are not evenly distributed on the blade surface but rather fluctuate with surface curvature. The simulated linear and orientation speeds of the robot end could be relatively steady over 98% of the total time within 20% reduction of the rest time. After polishing experiments, the coating roughness on the blade surface is reduced dramatically from Ra 7–8 µm to below Ra 1.0 µm. The removal of the TBCs is less than 100 mg, which is significantly less than the weight of the prepared coatings. The blade surface becomes smoothed to a mirror-like state.


Originality/value
The research on robotic polishing of aero-engine turbine blade TBCs is worthwhile. The real-time trajectory planning based on measuring point cloud can address the problem that there is no standard computer-aided drawing model and the geometry and size of the workpiece to be processed differ. The extraction and optimization of tool contact points based on point cloud features can enhance the smoothness of the robot movement, stability of the polishing speed and performance of the blade surface after polishing.


A robotic polishing trajectory planning method for TBCs of aero-engine turbine blade using measured point cloud

To improve the quality and efficiency of robot grinding, a design and a control algorithm for a robot used for grinding the surfaces of large, curved workpieces with unknown parameters, such as wind turbine blades, are proposed herein. Firstly, the structure and motion mode of the grinding robot are determined. Secondly, in order to solve the problem of complexity and poor adaptability of the algorithm in the grinding process, a force/position hybrid control strategy based on fuzzy PID is proposed which greatly improves the response speed and reduces the error of the static control strategy. Compared with normal PID, fuzzy PID has the advantages of variable parameters and strong adaptability; the hydraulic cylinder used to adjust the angle of the manipulator can control the speed offset within 0.27 rad/s, and the grinding process can be carried out directly without obtaining the specific model of the surface to be machined. Finally, the experiments are carried out, the grinding force and feed speed are maintained within the allowable error range of the expected value, and the results verify the feasibility and effectiveness of the position tracking and constant force control strategy in this paper. The surface roughness of the blade is maintained within Ra = 2~3 μm after grinding, which proves that the grinding quality meets the requirements of the best surface roughness required for the subsequent process.

/pdf/research-on-surface-tracking-and-constant-force-control-of-a-274x6rbg.pdf

Research on Surface Tracking and Constant Force Control of a Grinding Robot

Laser powder bed fusion (L-PBF) is a novel process representing a possible solution for producing resistant parts using NiCrBSi hard-facing nickel alloys with complex geometry. Process parameters for more common alloys are explored with a standard Renishaw AM400 device (Renishaw, Wotton-under-Edge, UK) and an SLM Solution 250 device (SLM Solutions Group AG, Lübeck, Germany) modified with a baseplate preheated at high temperatures (300 °C and 500 °C). Laser remelting is also investigated in hopes of further improving material health. The origin of the main defects is studied. A lack of fusion is likely to be generated by spatters ejected from the melting pool while cracks are induced by the alloy’s lack of toughness. Using image analyses, those defects are quantified and correlated with processing parameters. Lack of fusion and total crack length decrease with an increase in baseplate’s preheating temperature. However, crack width increases with preheating temperature. Therefore, via a careful optimization of process parameters, samples with a surface density of 99% and narrow cracks are obtained. 

Material Health of NiCrBSi Alloy Parts Produced via the Laser Powder Bed Fusion Process

ABSTRACT Additive Manufacturing (AM) has revolutionized the production industry by offering design freedom with shorter lead times and reduced material wastage. However, the damage tolerance (DT) of AM parts is a significant concern due to their microstructural and geometric complexities, which affect their mechanical performance. This article aims to provide a comprehensive overview of the manufacturing parameters affecting the components produced by AM specifically selective laser melting (SLM). Detailed discussions are presented on the effects of manufacturing attributes on the microstructure, defects, and mechanical characteristics of AM parts. Depending on these aspects, basic concepts are studied and critically explained specifically for AM materials. The basic criterion for damage‐tolerant component design, the criterion for fatigue and fracture properties, and the effect of the defects on fatigue life are critically presented. In addition, the effect of different types of gradation on the crack growth behavior of samples processed by SLM is also investigated in depth. There is currently a lack of a specific review study in the literature that establishes a connection between process attributes and metallographic properties, and their impact on the damage behavior of additively manufactured parts. This gap in research highlights the need for a comprehensive review to bridge this knowledge deficit and provide valuable insights for understanding the relationships between manufacturing processes, material characteristics, and the structural integrity of additively manufactured components. This review concludes by addressing the challenges and opportunities in designing and qualifying AM parts for damage tolerance. 

Understanding the Effects of Manufacturing Attributes on Damage Tolerance of Additively Manufactured Parts and Exploring Synergy Among Process‐Structure‐Properties. A Comprehensive Review

Abstract To enrich material types applied to additive manufacturing and enlarge application scope of additive manufacturing in conformal cooling tools, M2 high-speed steel specimens were fabricated by selective laser melting (SLM). Effects of SLM parameters on the microstructure and mechanical properties of M2 high-speed steel were investigated. The results showed that substrate temperature and energy density had significant influence on the densification process of materials and defects control. Models to evaluate the effect of substrate temperature and energy density on hardness were studied. The optimized process parameters, laser power, scan speed, scan distance, and substrate temperature, for fabricated M2 are 220 W, 960 mm/s, 0.06 mm, and 200 ℃, respectively. Based on this, the hardness and tensile strength reached 60 HRC and 1000 MPa, respectively. Interlaminar crack formation and suppression mechanism and the relationship between temperature gradient and thermal stress were illustrated. The inhibition effect of substrate temperature on the cracks generated by residual stresses was also explained. AM showed great application potential in the field of special conformal cooling cutting tool preparation. 

/pdf/microstructure-properties-and-crack-suppression-mechanism-of-jn1zqyii.pdf

Microstructure, Properties and Crack Suppression Mechanism of High-speed Steel Fabricated by Selective Laser Melting at Different Process Parameters


Purpose
Considering the influence of environmental noise and modeling error during the process of the robotic automatic grinding aero-engine blade, this study aims to propose a method based on the extended state observer (ESO) to reduce the fluctuation of normal grinding force.


Design/methodology/approach
First, the measurement range of the six-dimensional force sensor is calibrated according to the maximum acceleration of end-effector and grinding force. Second, the gravity and zero drift compensation model is built to compensate for measurement error. Finally, the switching function is designed based on the difference between the expected grinding force and the actual feedback value. When the value of function stays within the switching band, a nonlinear active disturbance rejection control (ADRC) loop is applied. When the function value reaches outside the switching band, an ESO-based sliding mode control (SMC) loop is applied.


Findings
The simulated and experimental results show that the proposed control method has higher robustness compared with proportion-integral-derivative (PID), Fuzzy PID and ADRC.


Research limitations/implications
The processing parameters of this paper are obtained based on the single-factor experiment without considering the correlation between these variables. A new control strategy is proposed, which is not only used to control the grinding force of blades but also promotes the development of industrial control.


Originality/value
ESO is used to observe environmental interference and modeling errors of the system for real-time compensation. The segment control method consisting of ESO-based SMC and ESO-based ADRC is designed to improve the robustness. The common application of the two parts realizes suppression of fluctuation of grinding force.


Research on constant force grinding control of aero-engine blades based on extended state observer

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Papers

Microstructure, Properties and Crack Suppression Mechanism of High-speed Steel Fabricated by Selective Laser Melting at Different Process Parameters

Research on constant force grinding control of aero-engine blades based on extended state observer