the grinding of the cast and forgings is mainly for the grinding and riser, the parting line and the surface residue. in the past projects, we found that because of the factors of casting technology, such as the length of the flying edge of the type line is larger, the thickness drop is bigger, the residual deviation of the pouring and riser is larger, and the shrinkage of the workpiece. the problem of non quantitative grinding and cooling deformation is required for automatic grinding. our company has targeted robot intelligent function units to deal with these problems.