薄壁复杂结构的机器人打磨路径规划和力位控制技术现状与发展

doi:10.3901/JME.260232

摘要/Abstract

摘要： 在航空航天领域，高速飞行器的结构设计对结构重量与表面防护性能有高要求，为保证精度一般需进行打磨加工。然而人工打磨方式依赖经验且工作环境恶劣，工业机器人凭借其高适用性、强灵活性、低成本和易编程等特性，在提升生产效率和产品质量的同时，降低人力成本和劳动强度。综述了薄壁复杂结构涂层机器人打磨技术的最新研究进展，重点聚焦于打磨路径规划、力位混合控制技术及其协同方法。其中打磨路径规划包括路径生成及离散方法，如等参数线法、等残留高度法等传统算法及智能优化方法；针对力位混合控制技术，讨论了控制方法、控制策略以及控制装置等方面内容；并探讨了力位混合控制与路径规划的协同方法，包括数据共享机制、联合优化算法和模型预测控制，旨在保持目标路径的跟踪的同时，控制力和运动的稳定性。通过协同路径规划与力位混合控制技术，可以有效提高机器人打磨的质量与效率，拓展机器人打磨的工程应用能力。

关键词: 机器人打磨, 路径规划, 力位混合控制, 测量加工一体化

Abstract: In the aerospace field, the structural design of high-speed aircraft has high requirements for structural weight and surface protection performance. To ensure accuracy, grinding processing is usually necessary. However, manual grinding relies on experience and the working environment is harsh. Industrial robots, with their high applicability, strong flexibility, low cost and easy programming, not only improve production efficiency and product quality, but also reduce labor costs and labor intensity. ity. The latest research progress of robot grinding technology for thin-walled and complex structure coatings is reviewed, with a focus on grinding path planning, force-position hybrid control technology, and their collaborative methods. Polishing path planning includes path generation and discretization methods, such as traditional algorithms like the equal parameter line method and the equal residual height method, as well as intelligent optimization methods. For the force-position hybrid control technology, the aspects such as control methods, control strategies and control devices are discussed. Collaborative methods of force-position hybrid control and path planning are also explored, including data sharing mechanisms, joint optimization algorithms, and model predictive control. For the force-position hybrid control technology, aspects such as control methods, control strategies, and control devices are discussed. The collaborative methods of force-position hybrid control and path planning were also discussed, including data sharing mechanism, joint optimization algorithm and model predictive control, aiming to maintain the tracking of the target path while ensuring the stability of control force and motion. Through the collaboration of path planning and force-position hybrid control technology, the processing quality and efficiency of robot grinding can be greatly improved, and the engineering applicability of robot grinding technology can be expanded.

Key words: robot grinding, path planning, force-position hybrid control, integrated measurement and processing

中图分类号:

TP242

顾连睿, 郭国强, 江仁政, 毋天歌, 柯帅, 孔志学, 赵欢. 薄壁复杂结构的机器人打磨路径规划和力位控制技术现状与发展[J]. 机械工程学报, 2026, 62(5): 117-132.

GU Lianrui, GUO Guoqiang, JIANG Renzheng, WU Tiange, KE Shuai, KONG Zhixue, ZHAO Huan. Current Situation and Development of Path Planning and Force Position Control Technology for Robot Grinding with Thin-walled and Complex Structures[J]. Journal of Mechanical Engineering, 2026, 62(5): 117-132.

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http://www.cjmenet.com.cn/CN/Y2026/V62/I5/117

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