To improve the machining quality of mirror milling of thin-walled parts

this paper proposes a collaborative motion control strategy for mirror milling of dual hybrid robots. Firstly

based on the characteristics of robot motion control

an open CNC system with a dual CPU master-slave control architecture is developed to achieve human–computer interaction and motion control. Then

in order to achieve dual robots collaborative motion and improve the machining quality of thin-walled parts

four key technologies are integrated into the CNC system

namely mirror path generation of dual robots

synchronous speed planning

collaborative kinematics

and real-time compensation of motion errors. Finally

based on the independently developed integrated mirror milling CNC system

flat thin-walled part slot milling experiments with single and multi-point support

dual robots collaborative and non collaborative machining

multipoint support surface milling experiments

high curvature path high-speed collaborative motion experiments

and curved thin-walled part slot milling experiments are carried out. The experimental results show that the proposed collaborative motion control strategy can ensure high synchronization position accuracy of the dual robots. In addition

the multi-point support method can improve the vibration stability of workpiece milling while ensuring the wall thickness of thin-walled parts.