An Adaptive Trajectory Planning Algorithm for Grinding the Edge of Wind Blades Based on PSO

Polishing the edges is one of the most important steps in fixing blade flaws in wind turbines. Addressing the issues of large curvature variations and high time consumption in edge repairs, this paper proposes a trajectory planning method for robotic blade edge polishing. A material removal model for the blade polishing repair scenario is constructed based on the Preston equation and Hertz theory. The relationship between removal rate and speed is investigated, and a speed constraint equation is developed. To get the best polishing time, PSO (Particle Swarm Optimization) is used to combine the ideal step size and speed with the curvature threshold. To guarantee the continuity and integrity of the polishing motion, fifth-degree polynomial interpolation is employed for trajectory planning in joint space. According to simulation results, trajectory planning efficiency is greatly increased while preserving polishing accuracy thanks to the adjusted curvature threshold and speed achieved using PSO.