1. NSF Engineering Research Center for Reconfigurable Manufacturing Systems University of Michigan College of Engineering Reconfigurable System for Turbine Blade Finishing Engineering Research Center for Reconfigurable Manufacturing Systems

2. 2 NSF Engineering Research Center for Reconfigurable Manufacturing Systems University of Michigan College of Engineering Motivation Touch robot performs finish machining (of defects) on turbine blades Blade Inspection Machine performs accurate dimensional measurement of turbine blades

3. 3 NSF Engineering Research Center for Reconfigurable Manufacturing Systems University of Michigan College of Engineering Integration of Measurement and Machining Location Calculator (Relative to the part) Correction Action Robot Part Sensor Measuring Machine CAD Model + - Motion Comman d Robot Location Measuring Machine location Finished Parts Data Processing Closed loop integration of measurement and machining Inspection machine detects and measures defects on turbine blade Defect coordinates fed to the automatic robot for machining Robot machines the defects Inspection machine validates machining

4. 4 NSF Engineering Research Center for Reconfigurable Manufacturing Systems University of Michigan College of Engineering Integrated Hardware Material removal robot XYZ Positioner Turbine blade Non-contact sensor 2 axis rotary positioner Possible addition of vision system for roughness detection

5. 5 NSF Engineering Research Center for Reconfigurable Manufacturing Systems University of Michigan College of Engineering Preliminary Vision System Results original image with angular illuminationROI gray level threshold

6. 6 NSF Engineering Research Center for Reconfigurable Manufacturing Systems University of Michigan College of Engineering Next Steps Detailed work breakdown structure for project Technical specifications for hardware and software Alignment and calibration algorithms Measurement feasibility with laser system and vision system Registration algorithms to map to CAD model and specify regions of defects