Vibration control for thin-walled parts grinding through parallel magnetorheological absorber

• A robot-tool-parts dynamic model was established to identify the vibration during robotic grinding of thin-walled parts. • A parallel magnetorheological mechnism absorber was designed for chatter mitigation with its frequency characteristics fully simulated and tested. • The performance of the proposed using a semi-active variable stiffness control strategy was verified through robotic grinding processes of thin-walled parts. Vibration and regenerative chatter pose significant challenges in the robotic grinding of thin-walled aerospace components. To overcome the limitations of traditional vibration control, this study proposes a novel 6-DOF parallel magnetorheological grinding mechanism (PMRM), which integrates parallel kinematic mechanisms with magnetorheological damping technology. Firstly, a six-channel, independently controlled parallel MR damper enables orthogonal stiffness modulation, resolving the conflict between control complexity and dynamic performance in tandem mechanisms. Then, an adaptive variable-impedance control algorithm integrates real-time damping adaptation with frequency-domain vibration analysis, effectively decoupling tool-workpiece interaction dynamics from structural vibration. Finally, robotic grinding of aluminium thin-walled parts using an industrial robot was tested under various conditions to demonstrate the performance of the PMRM under different constant currents and air pressure. Experimental validation confirms substantial improvements: peak grinding force reduced by 60%, force stability enhanced by 50.6%, and average surface roughness (Ra) improved by 48.1%. These results demonstrate the PMRM’s capability for synergistic control of dynamic compensation and vibration suppression in the grinding of thin-walled parts.