Robot Grinding: From Frontier Hotspots to Key Technologies and Applications

Abstract

Robot grinding technology has shown broad application prospects in the field of machining complex curved parts due to its high flexibility, strong adaptability, and high automation. However, industrial robots are generally only suitable for rough machining, and for semi-finishing and finishing, improving the machining accuracy of robots and the surface quality of parts is a key issue. This paper summarizes the current research status of robot grinding and provides a reference for realizing robot precision grinding. At present, the research on robot grinding technology mainly focuses on robot pose control, force/position hybrid control strategy, intelligent machining path planning, vibration suppression technology, compliance control, and so on, aiming at solving the key bottleneck problems such as low machining accuracy, large grinding force fluctuation and poor surface quality consistency caused by insufficient robot stiffness. Firstly, the development history of the robot grinding system and the research status of process technology are summarized systematically. Secondly, the analysis focuses on grinding path planning, programming technology, and robot compliance force control technology. Finally, the current status of optimization research in robot grinding technology is summarized. The overarching purpose of this paper is to provide a systematic analysis and a comprehensive reference framework, aiming to address the core challenges hindering the achievement of high-precision, consistent surface quality in robotic grinding manufacturing. Based on the summarized state-of-the-art, robot grinding technology development trend is also predicted.

Keywords

Robot grinding / Trajectory planning / Compliance control / Parameter optimization

Author Contributions

Conceptualization, Z.L. and S.Q.; Methodology, Y.G., D.C. and P.Y.; Investigation, Y.S.; Data Curation, Y.S. and X.X.; Writing—Original Draft Preparation, Z.L.; Writing—Review & Editing, Z.L. and S.Q.; Funding Acquisition, S.Q.

Ethics Statement

Not applicable.

Informed Consent Statement

Not applicable.

Data Availability Statement

The data that support the findings of this study are available from the corresponding author upon reasonable request.

Funding

This study was supported by Key Laboratory of High-effciency and Clean Mechanical Manufacture at Shandong University, Ministry of Education, the National Natural Science Foundation of China (No. 52305484, No. 52305475, and No. U23A20632), the China Postdoctoral Science Foundation (No. 2024M761876), the National Key Research and Development Program of China (No. 2023YFC2413301), the Taishan Scholars Program (No. tsqn202408242), the Shandong Provincial Natural Science Foundation (No. ZR2022QE053 and No. ZR2022QE159), the Guangdong Basic and Applied Basic Research Foundation (No. 2022A1515111124), the Major Scientific and Technological Innovation Project of Shandong Province (No. 2023CXGC010207), the Major Basic Research of Shandong Provincial Natural Science Foundation (No. ZR2023ZD34), and the talent research project for the pilot project of integrating science, education, and industries of Qilu University of Technology (Shandong Academy of Sciences) (2024RCKY009).

Declaration of Competing Interest

The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper.

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