The use of industrial robots for grinding CFRP is a green processing method. This method not only allows in-situ repair to reduce unnecessary waste of resources, but also produces no excessive contaminants. The effect of various process parameters, including grinding directions, the mesh size of grinding heads and rotating speed, on the grinding quality of Carbon Fiber Reinforced Polymers (CFRP) using industrial robots was investigated. The mechanism of grinding defects was also studied. According to the experimental results, the CFRP grinding process is mainly controlled by the rotating speed, number of grinding heads, and grinding direction. In particular, high-speed grinding helps to improve the surface quality of CFRP. In turn, the use of diamond grinding heads with too small or too large particles may reduce surface quality. Grinding quality changes with the grinding direction. In the grinding direction between 0° and 90°, the surface roughness increases with the angle (but drops at 60°), and The same trend is observed in the grinding direction between 90° and 150°, whereby the surface roughness increases with the angle (but drops at 120°). The surface quality of CFRP is thereby improved after grinding in the direction of 0°, 60°, 120° and 180°. Furthermore, the fiber pull-out occurs, when the feed direction and fiber orientation are aligned. Finally, the low-frequency vibration easily causes fiber pull-out defects.

利用工业机器人对CFRP进行磨削是一种绿色加工方法。这种方法不仅可以进行原位修复，减少不必要的资源浪费，而且不会产生过多的污染物。研究了各种工艺参数，包括磨削方向、磨头的网格尺寸和转速，对工业机器人磨削碳纤维增强聚合物（CFRP）质量的影响。还研究了磨削缺陷的机理。根据实验结果，CFRP磨削过程主要由转速、磨头数量和磨削方向控制。特别是高速磨削有助于提高CFRP的表面质量。反过来，使用颗粒太小或太大的金刚石磨头可能会降低表面质量。磨削质量随磨削方向而变化。在0°~90°磨削方向上，表面粗糙度随着角度的增加而增大（但在60°时下降），在90°~150°磨削方向上观察到相同的趋势，即表面粗糙度随着角度的增大而增大。角度（但在 120° 时下降）。从而提高CFRP在0°、60°、120°和180°方向磨削后的表面质量。此外，当进给方向和纤维取向一致时，会发生纤维拉出。最后，低频振动容易造成纤维拉拔缺陷。表面粗糙度随着角度的增加而增加（但在 120° 时下降）。从而提高CFRP在0°、60°、120°和180°方向磨削后的表面质量。此外，当进给方向和纤维取向一致时，会发生纤维拉出。最后，低频振动容易造成纤维拉拔缺陷。表面粗糙度随着角度的增加而增加（但在 120° 时下降）。从而提高CFRP在0°、60°、120°和180°方向磨削后的表面质量。此外，当进给方向和纤维取向一致时，会发生纤维拉出。最后，低频振动容易造成纤维拉拔缺陷。