The cutter position control algorithms for a new marine propeller processing device

A major challenge of large-scale marine propellers is that the available processing devices have such disadvantages including one-surface machining, propeller blade vibration, poor stiffness, repeated clamping and long processing times. The method of double-cutter and double-surface symmetrical machining is proposed for large-scale marine propellers based on the parallel-serial mechanism, and the processing device prototype that has been constructed. This processing method can overcome the above-mentioned disadvantages: achieve clamping of propellers without repeating, and do double-cutter symmetrical machining of the pressure surface and suction surface. This means it facilitates the elimination of the cantilever effect, weakens vibration, and improves machining efficiency and accuracy. This device can also process some large workpieces with complicated surfaces. The structural design of this processing device is introduced, the movement parameters of the mechanism are decoupled, and the cutter pose and orientation control algorithms are derived. The control algorithms were verified to be correct through the use of the simulation model, which was constructed using ADAMS software and the equipment prototype, providing a theoretical foundation for later research and development of the processing equipment.