Vibration suppression is a major difficulty in the grinding of low-stiffness large thin-wall shells. The paper proposes that effective workpiece vibration control can be performed by a novel force-controlled end-effector integrated into a robotic grinding workcell. First, a dynamics model is built to capture the characteristics and vibration suppression mechanism of force control-based robotic grinding, then a novel force control-based vibration suppression method is designed for grinding large thin-wall shells, and three robotic grinding tests are conducted to validate the effects of the new method and the grinding performance of the force control-based robotic grinding workcell. The results are: 75% reduction in the amplitude of workpiece vibration; effective suppression of non-tool passing frequency; stable grinding of large thin-wall shells remarkably enhancing grinding depth up to 0.3 mm per pass, grinding depth error less than ±0.1 mm, and significant improvement of the workpiece surface quality up to Ra=0.762 μm.

抑制振动是磨削低刚度大型薄壁壳的主要困难。本文提出，可以通过集成到机器人磨削工作单元中的新型受力控制末端执行器来执行有效的工件振动控制。首先，建立动力学模型以捕捉基于力控制的机器人磨削的特性和振动抑制机理，然后设计一种新颖的基于力控制的振动抑制方法来研磨大型薄壁壳体，并进行了三个机器人磨削测试验证新方法的效果以及基于力控制的机器人磨削工作单元的磨削性能。结果是：减少了75％的工件振动幅度；有效抑制非刀具通过频率；