Robotic grinding is considered as an alternative towards the efficient and intelligent machining of complex components by virtue of its flexibility, intelligence and cost efficiency, particularly in comparison with the current mainstream manufacturing modes. The advances in robotic grinding during the past one to two decades present two extremes: one aims to solve the problem of precision machining of small-scale complex surfaces, the other emphasizes on the efficient machining of large-scale complex structures. To achieve efficient and intelligent grinding of these two different types of complex components, researchers have attempted to conquer key technologies and develop relevant machining system. The aim of this paper is to present a systematic, critical, and comprehensively review of all aspects of robotic grinding of complex components, especially focusing on three research objectives.

For the first research objective, the problems and challenges arising out of robotic grinding of complex components are identified from three aspects of accuracy control, compliance control and cooperative control, and their impact on the machined workpiece geometrical accuracy, surface integrity and machining efficiency are also identified. For the second aim of this review, the relevant research work in the field of robotic grinding till the date are organized, and the various strategies and alternative solutions to overcome the challenges are provided. The research perspectives are concentrated primarily on the high-precision online measurement, grinding allowance control, constant contact force control, and surface integrity from robotic grinding, thereby potentially constructing the integration of “measurement – manipulation – machining” for the robotic grinding system. For the third objective, typical applications of this research work to implement successful robotic grinding of turbine blades and large-scale complex structures are discussed. Some research interests for future work to promote robotic grinding of complex components towards more intelligent and efficient in practical applications are also suggested.

凭借其灵活性，智能性和成本效益，尤其是与目前的主流制造方式相比，机器人研磨被认为是对复杂零件进行高效和智能加工的替代方法。在过去的一到二十年中，机器人磨削的发展呈现出两个极端：一个旨在解决小规模复杂表面的精密加工问题，另一个旨在强调对大型复杂结构的高效加工。为了实现这两种不同类型的复杂零件的高效智能磨削，研究人员试图征服关键技术并开发相关的加工系统。本文的目的是对复杂零件的机器人磨削的各个方面进行系统，关键和全面的回顾，

对于第一个研究目标，从精度控制，顺应性控制和协同控制三个方面确定了复杂零件的机器人磨削产生的问题和挑战，并且它们对加工工件的几何精度，表面完整性和加工效率也有影响。确定。为了这次回顾的第二个目标，组织了迄今为止的机器人磨削领域的相关研究工作，并提供了克服挑战的各种策略和替代解决方案。研究方向主要集中在高精度在线测量，磨削余量控制，恒定接触力控制以及机器人磨削的表面完整性方面，从而有可能构建机器人磨削系统的“测量–操作–加工”集成。为了第三个目标，讨论了这项研究工作在成功完成涡轮机叶片和大型复杂结构的机器人磨削中的典型应用。还提出了一些未来的研究兴趣，以促进复杂零件的机器人磨削，使其在实际应用中更加智能和高效。