While the traditional trajectory planning methods are used in robotic belt grinding of blades with an uneven machining allowance distribution,it is hard to obtain the preferable profile accuracy and surface quality to meet the high-performance requirements of aero-engine.To solve this problem,a novel trajectory planning method is proposed in this paper by considering the devel-oped interpolation algorithm and the machining allowance threshold.The residual height error obtained from grinding experiments of titanium alloy sample was compensated to modify the cal-culation model of row spacing,and a new geometric algorithm was presented to dynamically cal-culate the cutter contact points based on this revised calculation model and the dichotomy method.Subsequently,the off-line machining program is generated based on a double-vector con-trolling method to obtain an optimal contact posture.On this basis,three sets of robotic grinding tests of titanium alloy blades were conducted to investigate the advantages of the proposed method.The comparative experimental results revealed that the presented algorithm had improved the sur-face profile accuracy of blade by 34.2％and 55.1％,respectively.Moreover,the average machined surface roughness was achieved to 0.3 μm and the machining efficiency was obviously promoted.It is concluded that this research work is beneficial to comprehensively improve the machined quality of blades in robotic belt grinding.

State Key Laboratory of Mechanical Transmission,Chongqing University,Chongqing 400044,China

[1]Chong LV;Lai ZOU;Yun HUANG;Xifan LIU;Zhaorui LI;Mingwang GONG;Heng LI-.A trajectory planning method on error compensation of residual height for aero-engine blades of robotic belt grinding)[J].中国航空学报（英文版）,2022(04):508-520

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