Large Liquid Rocket Nozzle Cooling Channel Robot Automatic Deburring System
Aiming at the problem that it is difficult to remove the milling groove burr in the liquid rocket engine nozzle cooling channel,a robot automatic deburring system for nozzle cooling channel is designed and developed.The cooperative control architecture of heterogeneous system is constructed,and the inter-face function of reliable transmission of data and command signal is designed,which solves the problem of motion coordination between industrial robot and CNC machine tool.Based on the Lie group Lie algebra theory,the kinematics model of the deburring system of the rocket nozzle is established,and the mathemati-cal relationship between the on-machine measurement data of the nozzle and the pose of the deburring actu-ator is derived.The robot trajectory planning is carried out by using the on-machine measurement data of the nozzle profile,which meets the requirements of robot trajectory planning for micro removal of complex surfaces.Through the deburring experiment of a certain type of nozzle and the key size measurement before and after grinding,it shows that the system meets the need of automatic deburring of liquid rocket engine nozzle cooling channel.
NETL
NSTL
万方数据
维普
