Abstract: With good flexibility, easy scheduling, and versatility, industrial robots have shown good adaptability in the grinding of large and complex curved parts.In the case of precision wheel grinding of large complex curved parts, the gyroscopic moment is intensified due to the large curvature and size of the workpiece surface, and the high-speed grinding head is often accompanied by the demand for continuous rapid rotation.Similar to the hindering effect of the gyroscopic moment on pitch attitude adjustment in high-speed ballistic/aircraft, an excessive gyroscopic moment can affect the accurate control of grinding head attitude during high-speed heavy-duty grinding.To reveal the mechanism of the gyroscopic moment in robotic grinding and support equipment selection design and process optimization, theoretical modeling and case analysis are carried out with a high-speed grinding head doing single-axis rotation.The synthetic angular velocity and angular acceleration of the grinding head after two fixed-axis rotations are derived, and the expressions for the moment of each axis in the global and local coordinate systems are obtained based on the Eulerian dynamics equation.Finally, the robot load capacity is calibrated and analyzed with the example of turbine blade grinding, and improvement suggestions are made.It is found that in the local coordinate system of the grinding head, the gyroscopic moment when the high-speed grinding head makes a single-axis uniform rotation is generated in the remaining orthogonal axis where no rotation occurs, and its amplitude is proportional to the rotation inertia in the spin direction, the spindle spin angular velocity, and the spindle swing angular velocity.

Key words: industrial robot, gyroscopic moment, high-speed grinding, fixed-point rotation, complex surface