Abstract Robotic machining centers offer diverse advantages: large operation reach with large reorientation capability, and a low cost, to name a few. Many challenges have slowed down the adoption or sometimes inhibited the use of robots for machining tasks. This paper deals with the current usage and status of robots in machining, as well as the necessary modelling and identification for enabling optimization, process planning and process control. Recent research addressing deburring, milling, incremental forming, polishing or thin wall machining is presented. We discuss various processes in which robots need to deal with significant process forces while fulfilling their machining task.

中文翻译：

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机械加工中的机器人

摘要 机器人加工中心具有多种优势：操作范围大、重定向能力强、成本低等。许多挑战减缓了机器人的采用速度，有时甚至阻碍了机器人在加工任务中的使用。本文介绍了机器人在机械加工中的当前使用和状态，以及实现优化、过程规划和过程控制所需的建模和识别。介绍了最近关于去毛刺、铣削、渐进成形、抛光或薄壁加工的研究。我们讨论了机器人在完成其加工任务时需要处理大量加工力的各种过程。