Abstract:In order to realize automatic, fast and accurate grinding of the three-cylinder crankshaft, a set of grinding unit with cooperation of multiple robots was developed. Based on the analysis of the shape characteristic of the three-cylinder crankshaft casting and its burrs, the form of grinding tools,the application mode of robots and the clamping mode of the crankshaft were designed and introduced in detail.In the aspect of grinding process control,a method of realtime controlling the grinding feed speed of robot by using the current value of grinding electric spindle was proposed,which improved the safety of the system.The system has been put into use, safe,reliable, accurate and efficient automatic grinding of the threecylinder crankshaft is realized