Intelligent Robot Path Planning System for Grinding of Aircraft Propeller Blades

This is an augmentation of a robotic installation Robin AFB GXMG has been using for over a decade. Each C-130 prop that needs grinding for remanufacture will no longer be treated exactly the same (since they are not). 3D sensing will adapt a grinding process to the exact blade geometry. Furthermore, if a prop need to be processed further (to remove pitting or scratches), the system will target only the problem areas for processing. The operator will also have full control on where and how blades are processed via graphical tools. Surface finishing operations are common in manufacturing sectors throughout the U.S. such as aerospace, furniture, automotive, and marine manufacturing just to name a few. These applications and are often high-mix/low-volume scenarios. It is rare to see automation used due to the high cost of an industrial robot approach and difficulty in programming high mix parts. This project will seek to demonstration the potential for an affordable 99%-automated solution at an affordable price point. Through the reduction of human-touch labor and reduced ergonomic stresses, many companies will rapidly see the benefit of deploying a collaborative grinding/sanding solution in their production systems. This rapid return on investment will be further realized by improved part quality and throughput as these systems become more advanced and are better leveraged in production. The adoptability of the resulting tool-set/software components will be aided from the focus on creating software components that are robust, easy to understand, and inexpensive as compared to existing industrial robotic sanding/grinding tool-sets. Since the project will build upon open-source libraries and coding architectures, any size entity can not only make use of the innovations but also quickly and easily adapt them to meet their specific needs. Furthermore, in the spirit of both ROS-Industrial and CRAFTSMAN, the software developed here will be hardware agnostic. As such, these same software technologies should be directly transferable to robotic paint stripping, seam welding, and adhesive application.