Mobile robot machining provides more flexible machining mode compared to the robot machining with a fixed base. However, its machining accuracy is frequently questioned. This paper focuses on the accuracy analysis in mobile robot machining. To evaluate the machining error qualitatively, the tool center point (TCP) error index is defined as the distance between the TCP and the designed machining point. The different error sources acting on the TCP error index are enumerated, and the theoretical accuracy analysis is proposed to eliminate the TCP error. The mobile robot machining strategy is then proposed based on the accuracy analysis. To ensure high machining accuracy, the global measurement system locates the position of the workpiece and the mobile platform. The force-controlled grinding head is used to compensate the TCP error. Experimental results show that the TCP error during mobile robot machining is lower than 40 mm, which mainly introduced by the calibration of the workpiece. The force-controlled grinding head can compensate the TCP error and the fluctuation of the grinding force under the control is lower than ±2 N.

与具有固定基座的机器人加工相比，移动机器人加工提供了更灵活的加工模式。但是，其加工精度经常受到质疑。本文着重于移动机器人加工中的精度分析。为了定性评估加工误差，将刀具中心点（TCP）误差指数定义为TCP与设计加工点之间的距离。列举了影响TCP错误索引的不同错误源，并提出了理论上的准确度分析以消除TCP错误。然后在精度分析的基础上提出了移动机器人的加工策略。为了确保较高的加工精度，全局测量系统可定位工件和移动平台的位置。力控磨头用于补偿TCP误差。实验结果表明，在移动机器人加工过程中，TCP误差小于40 mm，这主要是由工件的校准引起的。力控磨头可以补偿TCP误差，并且在控制下磨削力的波动小于±2N。