The development of a novel robotic wrist F/T sensor and its implement on the grinding operation

摘要

Grinding is one of the most complex and unpredictable metal-removing processes. Based on the in situ repairing operation in turbine blades, this paper presents a novel welding and grinding system, which consists of a portable robot and its control system, a novel waist F/T sensor and its control system, camera and image processing card, welding gun and grinding well. The robot can be moved and can be conveniently operated by one man. At the same time, it is fit into a 600mm hole (access hole) and can reach over 90percent of the total blade surface. Its productivity increases three times compared to man operation.