Enhancing Robotic-Based Propeller Blade Sharpening Efficiency with a Laser-Vision Sensor and a Force Compliance Mechanism

Yong Sheng Cheng, Syed Humayoon Shah, Shih Hsiang Yen, Anton Royanto Ahmad, Chyi Yeu Lin*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

1 Scopus citations

Abstract

The edge sharpness of a propeller blade plays a vital role in improving energy transmission efficiency and reducing the power required to propel the vehicle. However, producing finely sharpened edges through casting is challenging due to the risk of breakage. Additionally, the blade profile of the wax model can deform during drying, making it difficult to achieve the required edge thickness. To automate the sharpening process, we propose an intelligent system consisting of a six-DoF industrial robot and a laser-vision sensor. The system improves machining accuracy through an iterative grinding compensation strategy that eliminates material residuals based on profile data from the vision sensor. An indigenously designed compliance mechanism is employed to enhance the performance of robotic grinding which is actively controlled by an electronic proportional pressure regulator to adjust the contact force and position between the workpiece and abrasive belt. The system’s reliability and functionality are validated using three different workpiece models of four-blade propellers, achieving accurate and efficient machining within the required thickness tolerances. The proposed system provides a promising solution for finely sharpened propeller blade edges, addressing challenges associated with the earlier robotic-based grinding studies.

Original languageEnglish
Article number5320
JournalSensors
Volume23
Issue number11
DOIs
StatePublished - Jun 2023
Externally publishedYes

Bibliographical note

Publisher Copyright:
© 2023 by the authors.

Keywords

  • compensation strategy
  • compliance mechanism
  • industrial application
  • robotic grinding
  • vision sensor

ASJC Scopus subject areas

  • Analytical Chemistry
  • Information Systems
  • Atomic and Molecular Physics, and Optics
  • Biochemistry
  • Instrumentation
  • Electrical and Electronic Engineering

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