Robot Grinding: From Frontier Hotspots to Key Technologies and Applications

摘要

Robot grinding technology has shown broad application prospects in the field of machining complex curved parts due to its high flexibility, strong adaptability, and high automation. However, industrial robots are generally only suitable for rough machining, and for semi-finishing and finishing, improving the machining accuracy of robots and the surface quality of parts is a key issue. This paper summarizes the current research status of robot grinding and provides a reference for realizing robot precision grinding. At present, the research on robot grinding technology mainly focuses on robot pose control, force/position hybrid control strategy, intelligent machining path planning, vibration suppression technology, compliance control, and so on, aiming at solving the key bottleneck problems such as low machining accuracy, large grinding force fluctuation and poor surface quality consistency caused by insufficient robot stiffness. Firstly, the development history of the robot grinding system and the research status of process technology are summarized systematically. Secondly, the analysis focuses on grinding path planning, programming technology, and robot compliance force control technology. Finally, the current status of optimization research in robot grinding technology is summarized. The overarching purpose of this paper is to provide a systematic analysis and a comprehensive reference framework, aiming to address the core challenges hindering the achievement of high-precision, consistent surface quality in robotic grinding manufacturing. Based on the summarized state-of-the-art, robot grinding technology development trend is also predicted.