基于机器人力控平台的蒙皮漆层均匀打磨技术

Force-controlled robotic grinding for uniform paint removal on skin components

  • 摘要: 飞机在长时间运行过程中,蒙皮表面面漆会产生微小孔洞、裂纹等缺陷,因此需要对表面漆层定期进行去除,而目前的人工打磨方法难以满足其效率及均匀性需求。针对飞机蒙皮的均匀自动化除漆需求,文章提出一种双因子动态修正模型,通过引入载荷修正系数α与线速度修正系数β对该模型进行修正,以建立精确去除模型,随后开展定点磨抛与整面打磨去漆实验。实验结果表明,修正后的材料去除模型拟合优度可达0.92。整面打磨后的工件表面呈现出良好的金属光泽,无明显瑕疵与漆层残留,面形波动PV (peak-to-valley)由317.11 μm降至104.32 μm,去除均匀性较好。研究结果证明了搭建的蒙皮自动化除漆装置的有效性与去除模型的可靠性,具有一定的工程实用价值。

     

    Abstract: Periodic paint removal is necessary during prolonged aircraft operation due to the development of micro-pores and cracks in the skin's topcoat layer. Current manual grinding methods struggle to meet efficiency and uniformity requirements. To address the need for uniform automated paint removal on aircraft skins, a dual-factor dynamic correction model was proposed. By introducing a load correction coefficient α and linear velocity correction coefficient β, the model is refined to establish a precise material removal framework. Subsequent targeted grinding-polishing experiments and full-surface stripping trials were conducted. Experiments involving targeted spot grinding and full-surface grinding confirmed that the refined model achieves a goodness-of-fit of 0.92. After grinding, the surface exhibited uniform metallic luster with no visible flaws or residual paint. Furthermore, the PV (peak-to-valley) surface roughness decreased from 317.11 μm to 104.32 μm. These results demonstrate the effectiveness of the automated paint stripping system and the reliability of the material removal model, indicating significant engineering utility.

     

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