【摘要】 为适应内腔空间狭小、曲面复杂的半封闭舱段内腔打磨减重的技术要求，提出采用机器人实现内腔打磨减重的方案。对打磨区域按结构特征划分为底面、侧壁和圆角区域，分别制定打磨策略；设计了加长主轴，用于配合机器人进行区域清除；采用离线编程软件进行打磨轨迹规划和仿真分析，最终进行实际加工验证。结果表明：机器人打磨工艺方案可实现半封闭舱段内腔的打磨减重，验证了机器人打磨复杂舱段内腔表面的可行性，为后续半封闭内腔机器人打磨减重技术的推广应用提供了借鉴。更多还原

【Abstract】 In order to meet the technical requirements of polishing and reducing weight in semi en-closed cabin sections with narrow inner space and complex curved surfaces, a scheme of using robots to achieve weight reduction in inner cavity polishing is proposed. The polishing area is divided into bottom, sidewall, and fillet areas based on structural characteristics,and polishing strategies separately are developed. An extended spindle is designed to cooperate with a robot for area cleaning. Offline programming software is used to carry out grinding trajectory planning and simulation analysis. Actual machining verification is ultimately conducted. The results show that the robot polishing process scheme can achieve weight reduction by polishing the inner cavity of the semi enclosed cabin, which verifies the feasibility of robot polishing the surface of the complex cabin inner cavity, and provides a reference for the promotion and application of robot polishing weight reduction technology for the subsequent semi enclosed cabin.更多还原