The article presents a method of programming robots using virtual reality and digital twins. The virtual environment is a digital twin of a robotic station, built based on CAD models of existing station elements. The virtual reality system is used to record human movements in a virtual environment, which are then reproduced by a real robot. The method developed is dedicated mainly to such situations in which it is necessary for the robot to reproduce the movements of a human performing a process that is complicated from the point of view of robotization. An example of using the method for programming a robot implementing the process of cleaning ceramic casting moulds is presented.

This paper presents the use of a laser tracker for programming paths of industrial robots. The idea of operation, application, and the offered accuracy of the laser trackers are discussed. Then, the developed method of using a tracker for determining the path points of an industrial robot is presented. The requirements related to the developed method are indicated. The parameters of the industrial robot related to the repeatability and accuracy of the robots and the Absolute Accuracy option—increasing the accuracy—are characterized. The developed method is based on the accuracy of robots and the conversion of the position and orientation of individual coordinate systems. In the developed method, the robot is not used during programming and the programmer indicates the path points with the help of a retroreflector. The algorithm, which is the most important part of the developed method, has been implemented in the Rapid programming language to automate the programming process. This article provides an example of the use of the developed method to program the robot path during the grinding process. The advantages of the developed method are characterized and compared to existing solutions. In addition, the limitations and achieved accuracies are indicated.

The aviation industry is associated with high precision and accuracy standards of the manufactured components, and thus the need to ensure precise quality control. Measurement processes, depending on the manufactured components, take place before, during and after the processing stage. Optical scanners can be used for these measurements, the measurement results of which can be displayed on the operator panel or used to prepare a report. The innovative approach is to measure, compare the results with a pattern, send the deviations to a neural decision-making system, select the forces and send the results to a robot controller for adaptive machining. The presented proprietary solution includes a data acquisition system, a neural decision-making system and a robot that carries out the machining process via force control. The proposed solution was verified on aviation components. During the process parameter optimization stage for the diffuser and ADT gearbox, the points describing the change in width of the chamfer being performed and the blade thickness in the control sections were approximated.

The work presents a robotic system for grinding the blades of a turboprop engine compressor. The proprietary conceptual solution includes a data acquisition system based on a robotic 3D scanner, a neural decision system and a robot performing a grind...

The article concerns the possibility of the automation and robotization of the process of deburring jet engine components. The paper presents the construction of a laboratory stand enabling the automation of selected production operations of typical low-pressure turbine blades. The work identifies important parameters and results of the technological process related to the removal of burrs that affect the exactness of the process. The results of the analysis of the impact of individual process parameters on the magnitude of forces and moments occurring during deburring were carried out and presented. The results of initial and detailed tests were presented. Based on the results obtained, it was noticed that doubling the rotational speed of the brush results in a linear increase in torque and an increase in the engagement of the detail in the disc brush, leading to a non-linear increase in torque. It has also been shown that with tool wear, the value of the torque generated by the rotating tool decreases. Based on the results of a comparison of manual and automated process and histogram analysis, results from an automated stand are centered more correctly inside of the required radius range. This means that the repeatability of the process is higher for an automated test stand, which is one of the key aspects of large-scale aviation component manufacturing. Additionally, it was confirmed by visual inspection that all burs had been removed correctly—the deburring operation for all tested work pieces was successful. Based on the results obtained, it was proven that introduction of an automated stand can improve working conditions (by the elimination of the progressive fatigue of employees and the possibility for injury) and allows for the elimination of the negative impact of the machining process on workers. Further areas in which the optimization of the process parameters of the edge deburring can be developed in order to reduce unit costs have also been indicated.

The issues addressed in the paper present a part of the scientific research conducted within the framework of the automation of the aircraft engine part manufacturing processes. The results of the research presented in the article provided information in which tolerances while using a robotic control station with the option of force control we can make edge deburring.