关键词: 机器人化加工, 构型与机构设计, 运动学标定, 动力学控制, 振动抑制, 大尺度构件

Abstract: According to the summary and analysis of the application background and development status of mobile robot machining for the typical large-scale components， the basic performance requirements of large-scale component processing robot bodies such as the large workspace， high rigidity， high precision， heavy-duty， light-weight， high dynamic response and high load-to-weight ratio were proposed. Furthermore， focusing on the basic performance requirements， the optimization design and robot performance improvement method of heavy-duty and high-precision machining robot bodies were demonstrated， from the aspect of the optimization design of robot body configurations and mechanisms， the development of the high-performance dedicated and professional controller and the open source operating system of machining robots， dynamic calibration of kinematic parameters and real-time prediction and dynamic compensation of pose errors， dynamics modeling of rigid-flexible coupling multibody system， as well as the robot dynamics control and active vibration suppression control. And then， the conceptual design of the configurations and mechanisms of the machining robot bodies utilized on the large-scale components was completed. The innovative design and development of the robot bodies for the large-scale component processing robots may provide high-performance and super flexible robot machining system for the typical large-scale components in aerospace and other fields， and help to promote the improvement of key performance of domestic industrial robots. 

Key words: robot machining, configuration and mechanism design, kinematics calibration, dynamics control, vibration suppression, large-scale component