项目针对大型复杂、多样化零件的高效精密加工需求，通过机构学、力学与数字化加工的交叉融合，实现加工机器人的自主创新：将并联机构作为机器人本体实现运动和力的高效传递与灵活的姿态调整，引入柔性阻尼和时滞动力学模型实现减振和抑振，通过变刚度实现机器人与工件间的安全交互。主要围绕机器人本体结构、关节阻尼、精度保障三方面开展研究，包括：高能效的机器人本体机构与结构创新设计；基于柔性的吸振、减振机理与结构设计；刚柔耦合动力学建模与振动抑制方法；强耦合运动学精度标定技术；机器人-工件的安全交互设计；原型样机研制与试验验证。预期将建立刚柔耦合型加工机器人的高功率传动机理、高能效设计理论及高精度保证方法，突破加工机器人高效高精难题，实现机器人与复杂、多样性工件之间的共融。研究结果对提升我国航空航天、能源等领域亟需的大型复杂零件的制造能力与水平、机器人装备的自主创新及机器人学与制造学科的交叉融合具有重要意义。

This project aims at the challenge to guarantee high energy-efficiency design and high-accuracy machining for large-scale complex parts such as aerospace structural parts and aero-engine blades. By combining design methodology of parallel mechanisms and flexure mechanisms with digital manufacturing technology, the project aims to develop a new design paradigm for a robotized equipment which can achieve high-efficiency and high-precision machining: a parallel mechanism acting as the robot body structure to achieve energy-efficient transmission and manufacturing, the introduction of flexible dampers and dynamic vibration suppression algorithm to achieve energy absorption damping and potential high precision. The project mainly focuses on three aspects: the robot body structure, the joint damping and high-precision guarantee: (1) the innovative design of the energy-efficient parallel robot body structure; (2) the dynamic vibration absorber and the vibration-damping mechanism based on the flexible bearings and flexure mechanisms; 3) rigid-flexible coupling dynamics modelling and vibration suppression method; (4) high-precision kinematic calibration technology; (5) interaction safety design between the end effector and the workpiece; (6) development of machining robot prototype and test validation. It is expected that the high-power transmission mechanism and energy efficient based design theory for the rigid-flexible coupling robot will be established, and the high energy-efficiency will be realized by the innovative design of the robot body structure. Through the flexible damper design near or within both the base and joints, modelling and vibration suppression control, as well as high-precision kinematic calibration technology, the high-precision machining of the robot may be achieved. The outcomes of the study is of great significance to promote China's aerospace, energy and other areas of urgent need for large complex components of the manufacturing capacity and level of breakthrough.