Research on path planning of robotic ultrasonic surface strengthening for turbine blade based on dynamic response of ultrasonic surface strengthening

Abstract

In order to realize the automatic strengthening for turbine blades, a path planning method for robotic ultrasonic surface strengthening is proposed. A constitutive model of nonlinear isotropic strengthening–kinematic hardening is analyzed to establish the dynamic response model of ultrasonic surface strengthening on the turbine blade. According to the dynamic response model, the impact depth of the ultrasonic working head was obtained. Then, a path planning method of robotic ultrasonic surface strengthening for turbine blades is proposed on the basis of impact depth of working head, and it can improve both the uniformity of path distribution and contour accuracy. It not only ensures the processing accuracy but also meets the uniformity requirement of coverage. This path planning method provides a new surface strengthening technology for turbine blades.

Process Optimization for Robotic Ultrasonic Strengthening of Aviation Blade Surfaces Based on Intelligent Compliance Control

“…The robotic strengthening path is planned according to the surface curvature. The research on ultrasonic strengthening of TC4 titanium alloy is sufficient, and the ultrasonic parameters can be used for reference [13]. The parameters of the ultrasonic device in this experiment are set as an output amplitude of 30 µm; a frequency of 21.3 kHz; and an electric current of 2A.…”

“…Micromachines 2023, 14, x FOR PEER REVIEW 12 of 21 parameters can be used for reference [13]. The parameters of the ultrasonic device in this experiment are set as an output amplitude of 30 μm; a frequency of 21.3 kHz; and an electric current of 2A.…”

“…The research on ultrasonic parameters of surface strengthening for titanium alloy is very mature and can be directly referred to. This has been described in a previous work about the path planning of robotic ultrasonic surface strengthening for turbine blades [13]. Robot application technology is the focus of this paper, so the effects of the robot machining parameters on the surface roughness and hardness of the blade workpiece after ultrasonic surface strengthening are studied in this section.…”

“…The contact force is 25 N, the feed rate is 1.5 mm/s, and the experiment is repeated four times. The robotic strengthening path is planned, and ultrasonic parameters are set according to the previous study [13].…”

“…In the process of ultrasonic strengthening of the blade surface, the contact force between the strengthening tool and the workpiece surface is very important for forming a residual stress layer [11,12]. The constant contact force can ensure the oscillation stability of the strengthening tool, which is a key factor in inducing elastic-plastic deformation of the workpiece material [13][14][15]. Therefore, compliance control of contact force is required in the process of ultrasonic strengthening of the blade surface to keep constant contact force between the strengthening tool and the area to be strengthened in the normal direction.…”