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TCP-based calibration in robot-assisted belt grinding of aero-engine blades using scanner measurements

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Abstract

Calibration in the robot-assisted belt grinding of complex blades is regarded as one of the key bottlenecks of measurement accuracy. To enhance the accuracy, a TCP-based (tool center point) calibration method is proposed in this paper to calibrate the relationship between the precalibrated 3D laser scanner and the robot end-effector by using criterion spheres as the calibration object. Based on the description of the robot-scanning system from the perspectives of coordinates and scanner measurement modes, the calibration strategies on translational and rotational motions of the robot are provided to determine the translation vector and the orientation matrix. Calibration experiments on the criterion sphere are performed, both the calibration errors (positioning error and orientation error) and sphere fitting error are calculated. A typical case on the robotic belt grinding of 84K-2R1 aviation blade is conducted to validate the calibration results. Finally, the key factors influencing the calibration accuracy are analyzed. It has been demonstrated that the TCP-based calibration method proposed is effective, concise, and time-saving, and can be widely applied in the robot-assisted belt grinding operation.

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Authors and Affiliations

  1. State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, 430074, China

    Xiaohu Xu, Sijie Yan & Han Ding

  2. Blade Intelligent Manufacturing Division, HUST-Wuxi Research Institute, Wuxi, 214174, China

    Xiaohu Xu, Dahu Zhu, Haiyang Zhang, Sijie Yan & Han Ding

  3. Hubei Key Laboratory of Advanced Technology for Automotive Components, Wuhan University of Technology, Wuhan, 430070, China

    Dahu Zhu

  4. Hubei Collaborative Innovation Center for Automotive Components Technology, Wuhan University of Technology, Wuhan, 430074, China

    Dahu Zhu

Authors
  1. Xiaohu Xu
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  2. Dahu Zhu
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  3. Haiyang Zhang
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  4. Sijie Yan
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  5. Han Ding
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Correspondence to Sijie Yan.

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Xu, X., Zhu, D., Zhang, H. et al. TCP-based calibration in robot-assisted belt grinding of aero-engine blades using scanner measurements. Int J Adv Manuf Technol 90, 635–647 (2017). https://doi.org/10.1007/s00170-016-9331-8

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  • DOI: https://doi.org/10.1007/s00170-016-9331-8

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