A novel selected force controlling method for improving robotic grinding accuracy of complex curved blade.

Nonlinear time-varying contact state is a crucial factor to prevent the traditional robotic belt grinding method from precision machining of blade. In this case, a novel selected force controlling method (SFC) with consideration of regional division (RD) based on machining allowance is proposed for improving robotic grinding accuracy of complex curved blade, on basis of the self-developed adaptive impedance controller. Ideal normal grinding force at each cutter-contact (CC) point is calculated by principal curvature radius and regional allowance of blade surface.