航空发动机叶片原位打磨机构设计及运动学研究  

Design and Kinematics Research of an In-Situ Grinding Mechanism for Aero-Engine Blades

作　　者：张欢 左洪福[1] 陈云 ZHANG Huan;ZUO Hong-fu;CHEN Yun(College of Civil Aviation,Nanjing University of Aeronautics and Astronautics,Jiangsu Nanjing 211106,China)

机构地区：[1]南京航空航天大学民航学院,江苏南京211106

出　　处：《机械设计与制造》2023年第4期11-16,共6页Machinery Design & Manufacture

基　　金：国家自然科学基金—民航发动机原位微创智能维护关键技术研究(U1933202)。

摘　　要：分析了中压压气机叶片原位打磨工作自由度需求,设计了一款钢绳驱动、离散弹性脊骨支撑的原位打磨机构。采用几何分析方法,建立了驱动钢绳长度与脊骨弯曲角之间的正、逆运动学模型;根据D-H约定下的坐标变换,建立了弯曲角与末端打磨点空间位形之间的正、逆运动学模型。基于蒙特卡洛方法,对末端打磨点可达工作空间进行了仿真分析,并通过比较规划轨迹点与实际轨迹点之间的位置偏差,对运动学模型进行了验证。仿真结果表明:所设计机构的空间可达性满足中压压气机叶片原位打磨需求,其运动学模型准确,能够保证较高的末端定位精度。The degree of freedom required for in-situ grinding of medium pressure compressor blades is analyzed,and an in-situ grinding mechanism driven by cables and supported by discrete elastic backbones is designed.By means of geometric analysis,the forward and inverse kinematic models between the lengths of driving cables and the backbone bending angles are established;according to the coordinate transformation under D-H coTwention,the forward and inverse kinematic models between the bending angles and the configuration of the end grinding point are established.Based on Monte Carlo method,the workspace of the end grinding point is simulated and the kinematic models are verified by comparing the position deviation between planned trajectory points and actual trajectory points.The simulation shows that the workspace of the designed mechanism meets the requirements of in-situ grinding of medium pressure compressor blades,and the kinematic models are accurate enough to ensure high tip positioning accuracy.

关 键 词：叶片原位打磨 柔性关节 运动学建模 工作空间仿真 

分 类 号：TH16[机械工程—机械制造及自动化] TH112TH122