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.
Keywords: aviation blade surface; compliance control; industry robot; neural network fuzzy PID control; ultrasonic strengthening.