The Path Planning of Grinding and Polishing for Wind-driven Generator Vane Based on Curvature Gradient and Shortest Route

The huge vane of wind-driven generator plays a key role in power generation, and thevane working surface is the key to the performance in the core role of it. The working vane in dimension may be more than 100m in length and more than 5m in width. The grinding and polishing of its surface become the technical bottleneck. Based on the actual situation of the generator, the geometric characteristics of the working surface, and the variation rule of the vane contour, the matching of path planning of the tool head to the optimal technological parameters was developed according to the objective of shortest production time with constraints of both minimum curvature gradient and shortest route under equilibrium-working pressure of the tool head. The vane was divided into several sub-working regions for concrete geometric characteristics by using defferentiation-calculus principle. The horizontal ridge was determined and the horizontal ridge line was used as the reference for curvature of the surface and several planes parallel to the horizontal ridge line was used to have sectional lines on which the feature points were selected and the curvature of the working curve was calculated. The curvature sets of all sub-working domains were combined to form the global vane curvature matrix. According to the principle of minimum curvature gradient and avoidance of the repetition of working route, the grinding and polishing plan with the shortest path or the shortest time is determined among the feasible route.