Abstract: An in-situ robot material-reducing processing method and system for a hydraulic turbine top cover are provided. The method includes: S1, obtaining frequency response data of an end of a cutter controlled by a robot by performing an impact hammer test; S2, obtaining a modal parameter of the end of the cutter controlled by the robot by using a modal analysis software; S3, obtaining a damping matrix [C] and a stiffness matrix [K] by using a free vibration equation of a damped system; S4, establishing a dynamic model of a three-degree-of-freedom robot processing system; S5, obtaining a milling force coefficient of the cutter by performing a calibration experiment; S6, solving a dynamic equation; S7, drawing a lobe diagram of flutter stability of a milling process performed by the robot; and S8, obtaining stable milling process parameters according to the lobe diagram of flutter stability.

Abstract: An in-situ robot programming method for a hydraulic turbine top cover based on binocular structured light vision is provided, which relates to the field of robot vision-guided intelligent processing technologies. The method performs hand-eye calibration on a binocular structured light camera and a robot to construct a coordinate conversion relationship thereof, collects an annular to-be-processed area of the hydraulic turbine top cover by the binocular structured light camera for joining, and obtains a trajectory and a trajectory plan through point cloud processing algorithms, to thereby achieve a rapid programming for the hydraulic turbine top cover based on guidance of binocular structured light vision. The method adapts to changes in sizes of the hydraulic turbine top cover and take into account real-time performance and robustness, so that impacts of uncertainty factors on the system are greatly weakened, and the method has characteristics of intelligence and high degree of systematization.