Research on obstacle avoidance method Of in-situ blades grinding robot based on improved RRT
Xiaojun Shi, Tianrong Shi, Xiaoguang Lu · IET conference proceedings. · 2022
To solve the problems that existing grinding equipment and methods cannot grind the back of aeroengine blades, an in-situ grinding robot is proposed to maintain aeroengine blades through borescope. Meanwhile, path planning algorithm is improved from these aspects: adding bias strategy, improving sampling method and path smoothing to overcome shortcomings caused by standard rapidly exploring random tree algorithm (RRT). Consequently, simulation results show that the robot can avoid obstacles and reach the specified position quickly and smoothly to finish the grinding work on the back of blade. Simulation results also show that the improved RRT algorithm improves the path exploration efficiency and reduces the unnecessary oscillation in the motion of the robot. Moreover, the average path planning time is shortened and the average path length is cut down.