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<p>The titanium alloy processing industry faces an urgent demand for automated removal of surface oxide layers from titanium alloy ingots. The integration of three-dimensional (3D) vision with robotic grinding offers a promising solution; however, achieving conformal grinding on ingots with multi-type curved surfaces and complex topographies remains a major challenge. To address this issue, this study develops a flexible robotic grinding platform equipped with a 3D scanner and proposes a vision-guided method for oxide layer removal. The methodology involves scanning the ingot surface to obtain a point cloud, followed by three-dimensional reconstruction through downsampling and interpolation. The reconstructed point cloud is subsequently segmented and smoothed to extract the target grinding region. Robotic path planning and tool orientation calculations are then performed to generate the machining trajectory. Experimental validation confirms that the proposed approach enables conformal grinding of complex, multi-type surface geometries on titanium alloy ingots, achieving effective removal of oxide layers while preserving the underlying surface integrity.</p>

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Path Planning Method for Titanium Alloy Ingot Grinding Robots Based on 3D Reconstruction

  • 期刊论文

  • 发表日期：

    2026年3月12日

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  • Kai Chen,
  • Jinwei Fan,
  • Zhanshuai Wang,
  • Yang Guo,
  • Ri Pan

摘要

The titanium alloy processing industry faces an urgent demand for automated removal of surface oxide layers from titanium alloy ingots. The integration of three-dimensional (3D) vision with robotic grinding offers a promising solution; however, achieving conformal grinding on ingots with multi-type curved surfaces and complex topographies remains a major challenge. To address this issue, this study develops a flexible robotic grinding platform equipped with a 3D scanner and proposes a vision-guided method for oxide layer removal. The methodology involves scanning the ingot surface to obtain a point cloud, followed by three-dimensional reconstruction through downsampling and interpolation. The reconstructed point cloud is subsequently segmented and smoothed to extract the target grinding region. Robotic path planning and tool orientation calculations are then performed to generate the machining trajectory. Experimental validation confirms that the proposed approach enables conformal grinding of complex, multi-type surface geometries on titanium alloy ingots, achieving effective removal of oxide layers while preserving the underlying surface integrity.