Collaborative vibration absorption method by integrated industrial robot teams in machining large thin-walled cylindrical parts

Large thin-walled cylindrical parts pose multiple machining challenges, including narrow internal cavities, low structural stiffness, complex curvature, and vibration mode shapes that are highly sensitive to machining parameters. To address these challenges, this paper proposes a measurement–machining–collaborative vibration absorption framework implemented by a coordinated team of industrial robots. The framework exploits their kinematic flexibility, spatial reconfigurability, and ability to execute tasks in parallel. A dynamically reconfigurable vibration absorption strategy is developed to adapt online to machining-induced structural vibrations. Specifically, a deployment robot manipulates an electromagnetic variable-stiffness dynamic vibration absorber (VSDVA) to achieve optimal placement and in-situ tuning of its dynamic parameters according to a prescribed damping objective. Modal analysis and vibration energy distribution analysis are performed to identify vibration convergence regions (VCRs), defined as regions where vibrational energy accumulates under given machining parameters. Based on these predictions, the optimal absorber locations and target natural frequencies are determined, thereby enabling rapid VSDVA deployment and real-time stiffness adjustment. Comparative experiments under various machining conditions show that deploying the absorbers within key VCRs reduces the root mean square (RMS) acceleration at critical structural locations by up to 25.58% and 43.82%, respectively. These results indicate substantial attenuation of localized modal energy accumulation. Overall, the proposed multi-robot collaborative vibration absorption method mitigates machining-induced vibrations and improves process stability for large thin-walled cylindrical parts.