Abstract: This paper described the current state and challenges for robotic machining, where the integrated measurement-operation-machining technology was reviewed. To analyze the error sources during the integrated measurement-operation-machining technology and the influences on the machining quality, an error model was established. The errors might be classified into the measurement errors, errors by coordinate transformation, and robot motion errors. Based on the error transform model, the influences of different error sources on the machining quality were analyzed. The integrated measurement-operation-machining technology was used to accomplish the polishing tasks of an aircraft assemble gasket. The robotic machining test rig consisted of an industrial robot with a force-controlled polishing head. The measured point cloud data were used to generate the robotic machining path, while the force controlled polishing head was assembled at the end of the robot to compensate the position error. Experiments testify the feasibility of the integrated measurement-operation-machining technology for the varied-thicken aircraft assembly gasket polishing.

Key words: robotic machining, integrated measurement-operation-machining technology, error model, aircraft assembly gasket polishing

摘要： 阐述了机器人加工的发展现状与面临的挑战，回顾了机器人测量操作加工一体化所需要的关键技术。以典型的机器人加工过程为例，分析了机器人测量-操作-加工一体化过程中误差的来源，建立了加工误差及其传递模型，并分别计算分析了测量误差、坐标变换误差与机器人执行误差对加工精度的影响。将机器人测量加工一体化方案用于飞机机翼和机身装配垫片的磨削加工，由点云数据得到工业机械臂的加工轨迹和工艺参数规划数据，通过在机械臂末端安装顺应打磨头来消除工件法向的位置误差，实现恒力打磨。实验结果表明，该机器人加工方案能够实现飞机装配垫片的变厚度磨削加工。

关键词: 机器人加工, 测量加工一体化, 误差模型, 飞机装配垫片打磨