打磨机器人1. Aiming at the grinding particularity of a class of missile inner-wall heat insulating layer with rotation ellipsoid structure,a four-axis simultaneous motion inner-wall grinding robot was developed. 针对一类具有轴对称旋转椭球面结构的导弹弹体内壁隔热层打磨的特殊要求,设计了一种四自由度...