NSF Engineering Research Center for Reconfigurable Manufacturing SystemsUniversity of Michigan College of Engineering

Reconfigurable System for Turbine Blade Finishing

Engineering Research Center for

Reconfigurable Manufacturing Systems

2NSF Engineering Research Center for Reconfigurable Manufacturing SystemsUniversity of Michigan College of Engineering

Motivation

•Touch robot performs finish machining (of defects) on turbine blades•Blade Inspection Machine performs accurate dimensional measurement

of turbine blades

3NSF Engineering Research Center for Reconfigurable Manufacturing SystemsUniversity of Michigan College of Engineering

Integration of Measurement and Machining

Location Calculator

(Relative to the part)

Correction Action

Robot Part

Sensor

Measuring

Machine

CAD Model

+

-

Motion

Command

Robot Location

Measuring Machine location

Finished Parts

Data Processing

•Closed loop integration of measurement and machining•Inspection machine detects and measures defects on turbine blade•Defect coordinates fed to the automatic robot for machining•Robot machines the defects•Inspection machine validates machining

4NSF Engineering Research Center for Reconfigurable Manufacturing SystemsUniversity of Michigan College of Engineering

Integrated Hardware

Material removal robot

XYZ Positioner

Turbine blade

Non-contact sensor

2 axis rotary positioner

Possible addition of vision system for roughness detection

5NSF Engineering Research Center for Reconfigurable Manufacturing SystemsUniversity of Michigan College of Engineering

Preliminary Vision System Results

original image with angular illumination ROI gray level threshold

6NSF Engineering Research Center for Reconfigurable Manufacturing SystemsUniversity of Michigan College of Engineering

Next Steps

•Detailed work breakdown structure for project

•Technical specifications for hardware and software

•Alignment and calibration algorithms

•Measurement feasibility with laser system and vision system

•Registration algorithms to map to CAD model and specify regions of defects