Process Optimization for Robotic Ultrasonic Strengthening of Aviation Blade Surfaces Based on Intelligent Compliance Control.

In order to enhance the automation level and achieve high precision in the ultrasonic strengthening of aviation blade surfaces, this study focuses on investigating the intelligent control strategy and optimizing the machining parameters for robotic ultrasonic surface strengthening. By designing an intelligent compliance control method, the end-effector can achieve the compliant output of contact force. The fuzzy PID control method is used to optimize the regulation performance of the compliant force control system. This compliance control strategy enables the optimization of the compliance device, effectively improving the static and dynamic characteristics of the compliance controller. Based on this, an experimental method (RSM) is designed to analyze the interaction effects of contact force, feed rate, and repetition times on the surface quality of the blade. The optimal combination of robotic strengthening parameters is determined, providing a practical reference for the application of robotic compliance control in the ultrasonic strengthening of aviation blade surfaces.

Research on Robotic Compliance Control for Ultrasonic Strengthening of Aviation Blade Surface.

In order to satisfy the requirement of the automatic ultrasonic strengthening of an aviation blade surface, this paper puts forward a robotic compliance control strategy of contact force for ultrasonic surface strengthening. By building the force/position control method for robotic ultrasonic surface strengthening., the compliant output of the contact force is achieved by using the robot's end-effector (compliant force control device). Based on the control model of the end-effector obtained from experimental determination, a fuzzy neural network PID control is used to optimize the compliance control system, which improves the adjustment accuracy and tracking performance of the system. An experimental platform is built to verify the effectiveness and feasibility of the compliance control strategy for the robotic ultrasonic strengthening of an aviation blade surface. The results demonstrate that the proposed method maintains the compliant contact between the ultrasonic strengthening tool and the blade surface under multi-impact and vibration conditions.

Research progress and development trend of surgical robot and surgical instrument arm.

BACKGROUND: In recent years, surgical robots have become an indispensable part of the medical field. Surgical robots are increasingly being used in the areas of gynaecological surgery, urological surgery, orthopaedic surgery, general surgery and so forth. In this paper, the development of surgical robots in different operations is reviewed and analysed. In the type of master-slave surgical robotic system, the robotic surgical instrument arms were located in the execution terminal of a surgical robot system, as one of the core components, and directly contact with the patient during the operation, which plays an important role in the efficiency and safety of the operation. In clinical, the arm function and design in different systems varies. Furtherly, the current research progress of robotic surgical instrument arms used in different operations is analysed and summarised. Finally, the challenge and trend are concluded. METHODS: According to the classification of surgical types, the development of surgical robots for laparoscopic surgery, neurosurgery, orthopaedics and microsurgery are analysed and summarised. Then, focusing on the research of robotic surgical instrument arms, according to structure type, the research and application of straight-rod surgical instrument arm, joint surgical instrument arm and continuous surgical instrument arm are analysed respectively. RESULTS: According to the discussion and summary of the characteristics of the existing surgical robots and instrument arms, it is concluded that they still have a lot of room for development in the future. Therefore, the development trends of the surgical robot and instrument arm are discussed and analysed in the five aspects of structural materials, modularisation, telemedicine, intelligence and human-machine collaboration. CONCLUSION: Surgical robots have shown the development trend of miniaturisation, intelligence, autonomy and dexterity. Thereby, in the field of science and technology, the research on the next generation of minimally invasive surgical robots will usher in a peak period of development.

The Design of Rare-Earth Giant Magnetostrictive Ultrasonic Transducer and Experimental Study on Its Application of Ultrasonic Surface Strengthening.

Ultrasonic transducer based on rare-earth giant magnetostrictive materials was designed in accordance with the technical requirements of ultrasonic surface strengthening. The whole structure of the transducer was designed. Modal analysis is made to get the natural frequency of the compound oscillator. The working frequency of the transducer should be guaranteed at about 15.2 kHz and the composite oscillator should have relatively better vibration mode. The magnetic field of the transducer is well sealed and the transducer will not show obvious magnetic flux leakage phenomenon. Which shows the rationality of structural design. Based on this transducer, the ultrasonic surface strengthening experiment on 40 steel was conducted. The surface roughness and hardness of the parts were analyzed after the experiment. The results show that the surface of the parts reach the mirror surface result after the ultrasonic strengthening. When compared to the previous process, the roughness decreases by about 75%, and the surface hardness increases by more than 20%.