整体构件狭窄流道机器人无干涉磨抛姿态多目标自主规划方法

doi:10.3901/JME.260432

机械工程学报 ›› 2026, Vol. 62 ›› Issue (9): 408-419.doi: 10.3901/JME.260432

• 制造工艺与装备 • 上一篇

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整体构件狭窄流道机器人无干涉磨抛姿态多目标自主规划方法

谢海龙¹, 尹菊红¹, 王清辉², 赵崇光³, 廖昭洋⁴

1. 华南理工大学设计学院广州 510006;
2. 华南理工大学机械与汽车工程学院广州 510641;
3. 中国科学院高能物理研究所散裂中子源科学中心东莞 523803;
4. 广东省科学院智能制造研究所广州 510070

收稿日期:2025-05-19 修回日期:2025-11-16 发布日期:2026-07-08
作者简介:谢海龙，男，1993年出生，博士，硕士研究生导师。主要研究方向为数字化设计与制造、CAD/CAM工业软件自主研制、机器人、虚拟现实及数字孪生。E-mail：hlxie@scut.edu.cn;王清辉(通信作者)，男，1972年出生，博士，教授，博士研究生导师。主要研究方向为数字化设计与制造、CAD/CAM工业软件自主研制、机器人、虚拟现实及数字孪生。E-mail：wqh@scut.edu.cn
基金资助:
国家自然科学基金(52405542)、国家外国专家(H20240162)、广东省自然科学基金面上(2025A1515011174)、广州市基础与应用基础研究(SL2023A04J00939)和松山湖科学城散裂中子源开放基金(KFKT2023B04)资助项目。

Multi-objective Planning of Interference-free Machining Postures for Robotic Grinding of Components with Narrow Processing Channel

XIE Hailong¹, YIN Juhong¹, WANG Qinghui², ZHAO Chongguang³, LIAO Zhaoyang⁴

1. School of Design, South China University of Technology, Guangzhou 510006;
2. School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou 510641;
3. Spallation Neutron Source Science Center, Institute of High Energy Physics, Chinese Academy of Sciences, Dongguan 523803;
4. Institute of Intelligent Manufacturing, Guangdong Academy of Sciences, Guangzhou 510070

Received:2025-05-19 Revised:2025-11-16 Published:2026-07-08

摘要/Abstract

摘要： 航发整体叶盘、离心式叶轮和封闭式叶轮等整体构件的气流道扭曲狭窄、刀具可达性差，极其容易发生各种类型的加工干涉，是典型的难加工零件。为提高整体构件的加工表面质量，以其最后一道精加工工序—机器人砂带磨抛工艺为研究对象，提出面向整体构件狭窄流道的机器人无干涉磨抛姿态多目标自主规划方法。首先，提出机器人无干涉构型空间(Interference-free robot configuration space, IFRC-Space)的定义及表示方法，开展机器人磨抛整体构件狭窄流道时IFRC-Space沿刀轨的演变规律探究实验，揭示IFRC-Space沿刀轨连续变化的规律，据此提出基于图像边缘检测算子的IFRC-Space快速计算模型，开发基于IFRC-Space的机器人无干涉磨抛姿态多目标优化算法，该算法可综合考虑无干涉、无奇异、磨抛姿态光顺与机器人运动学性能等指标，实现整体构件无干涉磨抛姿态的自主生成和多目标优化。最后以整体叶盘和封闭式叶轮的机器人砂带磨抛为例，开展轨迹规划实验，验证了所提方法的有效性及实用性。

关键词: 整体构件, 机器人, 砂带磨抛, 轨迹规划, 干涉避免

Abstract: The processing channels of integral components such as blisk, integral impeller, and closed impeller of aero-engine are twisted, narrow, and deep, and are prone to various machining interference, which are typical difficult-to-machine components. To improve their machined surface quality, the robotic belt grinding process that is widely used as the last finishing process of the integral component is taken as the research object, and a multi-objective planning method of interference-free machining postures for robotic belt grinding of integral components is presented. With this method, a definition of interference-free robot configuration space (IFRC-Space) is first proposed. Next, an exploration experiment on the evolution law of IFRC-Space along the toolpath when grinding integral components is carried out, which concluded that IFRC-Space varies continuously along the toolpath. Based on the conclusion, a rapid computation method of IFRC-Space is proposed by using the edge detection operator of images. Then, a multi-objective optimization algorithm of grinding postures is advanced based on IFRC-Space. With the algorithm, the indicators including interference avoidance, singularity avoidance, smoothness of grinding postures, and the kinematic performance of the robot can be comprehensively considered, which enables the automatic generation and multi-objective optimization of the interference-free machining postures for robotic belt grinding of integral components. The effectiveness and practicability of the proposed method are verified by toolpath planning experiments for robotic belt grinding of aero-engine blisk and closed impeller.

Key words: integral components, robotic, belt grinding, toolpath planning, interference avoidance

中图分类号:

TH164

谢海龙, 尹菊红, 王清辉, 赵崇光, 廖昭洋. 整体构件狭窄流道机器人无干涉磨抛姿态多目标自主规划方法[J]. 机械工程学报, 2026, 62(9): 408-419.

XIE Hailong, YIN Juhong, WANG Qinghui, ZHAO Chongguang, LIAO Zhaoyang. Multi-objective Planning of Interference-free Machining Postures for Robotic Grinding of Components with Narrow Processing Channel[J]. Journal of Mechanical Engineering, 2026, 62(9): 408-419.

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http://www.cjmenet.com.cn/CN/Y2026/V62/I9/408

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整体构件狭窄流道机器人无干涉磨抛姿态多目标自主规划方法

Multi-objective Planning of Interference-free Machining Postures for Robotic Grinding of Components with Narrow Processing Channel

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