High precision and efficiency robotic milling of complex parts:Challenges,approaches and trends  

作　　者：Zerun ZHU Xiaowei TANG Chen CHEN Fangyu PENG Rong YAN Lin ZHOU Zepeng LI Jiawei WU 

机构地区：[1]School of Mechanical Science and Engineering,Huazhong University of Science and Technology,Wuhan 430074,China [2]State Key Laboratory of Digital Manufacturing Equipment and Technology,Huazhong University of Science and Technology,Wuhan 430074,China [3]Wuhan Digital Design and Manufacturing Innovation Centre Co.,Ltd.,Wuhan 430074,China

出　　处：《Chinese Journal of Aeronautics》2022年第2期22-46,共25页中国航空学报（英文版）

基　　金：supported by National Science Fund for Distinguished Young Scholars of China(No.51625502);Innovative Group Project of National Natural Science Foundation of China(No.51721092);Innovative Group Project of Hubei Province of China(No.2017CFA003)。

摘　　要：Due to the advantages of large workspace,low cost and the integrated vision/force sensing,robotic milling has become an important way for machining of complex parts.In recent years,many scholars have studied the problems existing in the applications of robotic milling,and lots of results have been made in the dynamics,pose planning,deformation control etc.,which provides theoretical guidance for high precision and high efficiency of robotic milling.From the perspective of complex parts robotic milling,this paper focuses on machining process planning and control techniques including the analysis of the robot-workspace,robot trajectory planning,vibration monitoring and control,deformation monitoring and compensation.As well as the principles of these technologies such as robot stiffness characteristics,dynamic characteristics,chatter mechanisms,and deformation mechanisms.The methods and characteristics related to the theory and technology of robotic milling of complex parts are summarized systematically.The latest research progress and achievements in the relevant fields are reviewed.It is hoped that the challenges,strategies and development related to robotic milling could be clarified through the carding work in this paper,so as to promote the application of related theories and technologies in high efficiency and precision intelligent milling with robot for complex parts.

关 键 词：Complex parts DEFORMATION Dynamics Robotic milling STIFFNESS Vibration control 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TG54[自动化与计算机技术—控制科学与工程]