复杂叶片机器人磨抛加工工艺技术研究进展

针对航空、航天、能源等国家战略领域复杂叶片高效高品质加工重大需求，对近年来以工业机器人为装备执行体的机器人磨抛加工技术的研究进展进行了综述。具体围绕叶片机器人磨抛中涉及的加工系统精确标定、测量点云高效匹配、加工轨迹自适应规划，以及柔顺力精密控制等关键工艺技术，系统而全面地分析了国内外已公开发表的相关文献，并以典型的汽轮机叶片和发动机叶片为例，阐述了叶片机器人磨抛工程应用效果。最后从叶片特殊部位一体化加工、磨抛加工颤振抑制、磨抛表面完整性控制、叶片增减材混合加工等方面对该领域未来研究方向进行了展望。

Research progress in robotic grinding technology for complex blades

Aiming at the major demand for high efficiency and high quality machining of complex blades in national strategic fields such as aviation, aerospace, and energy, this paper reviews the recent advances in the robotic grinding technology using industrial robots as actuators. Specifically, studies in key process technologies from the four aspects of precise calibration of the machining system, efficient matching of the measured point cloud, adaptive planning of the machining trajectory, and precise control of the compliance force are systematically and comprehensively analyzed. Taking the typical steam turbine blades and engine blades as examples, we describe the application effects of the robotic grinding of blades. Finally, the future research directions in this field are prospected from four aspects:integrated machining of special parts of blades, chatter suppression of robotic grinding, surface integrity control, and hybrid additive and subtractive machining of blades.