Robotics and Computer-integrated Manufacturing最新文献

Proposal of a complexity model for human-robot collaboration assembly processes

IF 9.1 1区计算机科学

Robotics and Computer-integrated Manufacturing Pub Date : 2025-04-05 DOI: 10.1016/j.rcim.2025.103026

Matteo Capponi, Riccardo Gervasi, Luca Mastrogiacomo, Fiorenzo Franceschini

{"title":"Proposal of a complexity model for human-robot collaboration assembly processes","authors":"Matteo Capponi, Riccardo Gervasi, Luca Mastrogiacomo, Fiorenzo Franceschini","doi":"10.1016/j.rcim.2025.103026","DOIUrl":"10.1016/j.rcim.2025.103026","url":null,"abstract":"<div><div>Assembly complexity in manual processes has been widely addressed over the years in manufacturing-related literature. The concept of complexity indeed is linked to the cognitive and physical effort required on behalf of the human operator in completing the assembly process and is directly linked to the occurrence of process failures and inefficiencies. In the light of the introduction of novel technologies such as collaborative robotics such paradigm should be revised. This paper presents a proposal for a complexity model, i.e., “C<img>HRC model”, for Human-Robot Collaboration assembly processes. C<img>HRC model provides a multidimensional framework and a practical tool for analysing the complexity of collaborative assembly processes performed by humans supported by collaborative robots. In this situation, the collaboration with the robot may require an additional effort from the human operator, resulting in a more complex activity and thus more error prone. In this regard, the C<img>HRC model integrates insights from multiple disciplines to provide an overview of collaborative assembly complexity based on four layers: product complexity, assembly complexity, interaction complexity and collaboration complexity. The conceptual foundation of the C<img>HRC model is thoroughly detailed and supported by a review of the relevant literature. Hence, the paper uses the complexity formulation proposed by Samy and ElMaraghy as a basis to provide a quantitative approach. The model is then applied to practical case studies to demonstrate its application and illustrate how it can enhance the understanding of effective human-robot collaboration. This provides process designers with a practical tool to support design and improve collaborative assembly processes.</div></div>","PeriodicalId":21452,"journal":{"name":"Robotics and Computer-integrated Manufacturing","volume":"95 ","pages":"Article 103026"},"PeriodicalIF":9.1,"publicationDate":"2025-04-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143777255","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Novel Point Cloud-Driven Framework for Enhanced Multi-Views Model Reconstruction and Robotic Arc Welding Trajectory Generation

IF 9.1 1区计算机科学

Robotics and Computer-integrated Manufacturing Pub Date : 2025-04-04 DOI: 10.1016/j.rcim.2025.103022

Kai Liu , Yang Lu , Mingzhen Rao , Zhongxi Sheng , Wei Zhang , Zhengbin Zhong , Xiao Yang , Runquan Xiao , Huabin Chen

{"title":"A Novel Point Cloud-Driven Framework for Enhanced Multi-Views Model Reconstruction and Robotic Arc Welding Trajectory Generation","authors":"Kai Liu , Yang Lu , Mingzhen Rao , Zhongxi Sheng , Wei Zhang , Zhengbin Zhong , Xiao Yang , Runquan Xiao , Huabin Chen","doi":"10.1016/j.rcim.2025.103022","DOIUrl":"10.1016/j.rcim.2025.103022","url":null,"abstract":"<div><div>With the rapid advancement of robotics technology, robotic welding has become essential for improving the welding efficiency of large-scale complex components, while reducing the workload of welders. However, the large size and intricate weld structures present significant challenges in obtaining comprehensive point cloud and accurate welding paths, which further hinders the development and application of robotic welding in this field. To address these problems, this article proposes a novel point cloud-driven framework for enhanced multi-views model reconstruction and robotic arc welding trajectory generation of large-scale complex components. To determine the corresponding point pairs and optimal transformation used for point cloud alignment, we introduce an improved bidirectional nearest neighbor (IBNN) algorithm combined with a Levenberg-Marquardt iterative closest point (LM-ICP) approach, which enables precise and fast stitching of multi-views point clouds. We further propose an edge intensity (EI) response algorithm for efficient extraction of weld seams feature points from the point cloud, followed by B-spline curve fitting to generate smooth and accurate welding trajectories. Additionally, the welding torch pose is estimated by integrating the weld seams region (WSR) point cloud with the welding trajectories, enabling the robot to perform autonomous welding in the correct orientation. Experimental results show that the proposed framework outperforms traditional methods in both accuracy and efficiency, with a maximum error (ME) of about 0.6 mm, a root mean square error (RMSE) of approximately 0.4 mm, and a running time of around 7 s, which has a certain industrial application value.</div></div>","PeriodicalId":21452,"journal":{"name":"Robotics and Computer-integrated Manufacturing","volume":"95 ","pages":"Article 103022"},"PeriodicalIF":9.1,"publicationDate":"2025-04-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143769201","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A multi-level multi-domain digital twin modeling method for industrial robots

IF 9.1 1区计算机科学

Robotics and Computer-integrated Manufacturing Pub Date : 2025-04-03 DOI: 10.1016/j.rcim.2025.103023

Kang Yang , Yongkui Liu , Benben Tuo , Yaduo Pan , Xinyu Wang , Lin Zhang , Lihui Wang

{"title":"A multi-level multi-domain digital twin modeling method for industrial robots","authors":"Kang Yang , Yongkui Liu , Benben Tuo , Yaduo Pan , Xinyu Wang , Lin Zhang , Lihui Wang","doi":"10.1016/j.rcim.2025.103023","DOIUrl":"10.1016/j.rcim.2025.103023","url":null,"abstract":"<div><div>Industrial robots (IRs) serve as critical equipment in advanced manufacturing systems. Building high-fidelity digital twin models of IRs is essential for various applications like precision simulation, and intelligent operation and maintenance. Despite technological potentials of digital twins, existing modeling methods for industrial robot digital twins (IRDTs) predominantly focus on isolated domains. This fails to address inherent multi-domain complexities of IRs that arise from their integrated mechanical-electrical-control characteristic. To bridge this gap, first, this study proposes a multi-level multi-domain (MLMD) digital twin modeling framework and method. The framework systematically integrates physical space, digital space, and their bidirectional interactions, while explicitly defining hierarchical structures and cross-domain mechanisms. Subsequently, a four-step method is established, which encompasses component analysis, parameter extraction, MLMD IRDT modeling based on function blocks (FBs), and model validation. Then, implementation details are illustrated through an SD3/500 IR case study, where domain-specific modeling techniques and cross-domain integration mechanisms are systematically analyzed. Finally, effectiveness and feasibility of the proposed method is validated through experiments.</div></div>","PeriodicalId":21452,"journal":{"name":"Robotics and Computer-integrated Manufacturing","volume":"95 ","pages":"Article 103023"},"PeriodicalIF":9.1,"publicationDate":"2025-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143759935","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Dexterous hand towards intelligent manufacturing: A review of technologies, trends, and potential applications

IF 9.1 1区计算机科学

Robotics and Computer-integrated Manufacturing Pub Date : 2025-04-01 DOI: 10.1016/j.rcim.2025.103021

Jiexin Zhang, Huan Zhao, Kuangda Chen, Guanbo Fei, Xiangfei Li, Yiwei Wang, Zeyuan Yang, Shengwei Zheng, Shiqi Liu, Han Ding

{"title":"Dexterous hand towards intelligent manufacturing: A review of technologies, trends, and potential applications","authors":"Jiexin Zhang, Huan Zhao, Kuangda Chen, Guanbo Fei, Xiangfei Li, Yiwei Wang, Zeyuan Yang, Shengwei Zheng, Shiqi Liu, Han Ding","doi":"10.1016/j.rcim.2025.103021","DOIUrl":"10.1016/j.rcim.2025.103021","url":null,"abstract":"<div><div>Multi-fingered dexterous hands hold significant potential for addressing manipulation tasks in intelligent manufacturing, owing to their inherent anthropomorphic flexibility and rich perceptual capabilities. However, the functionality of dexterous hands in intelligent manufacturing remains unclear due to current technological limitations. This paper provides a review of the current research status of dexterous hands for manipulation tasks, with a specific focus on key technologies related to structure, perception, grasping, and manipulation skills. Furthermore, this review also highlights potential applications of dexterous hands in intelligent manufacturing, including manufacturing in narrow spaces, bin-picking, and in-situ manufacturing. We also discuss the research challenges for the wide adoption of dexterous hands. This review offers a comprehensive analysis of dexterous hands from a manufacturing perspective, contributing to future technological breakthroughs and the advancement of new-generation intelligent manufacturing.</div></div>","PeriodicalId":21452,"journal":{"name":"Robotics and Computer-integrated Manufacturing","volume":"95 ","pages":"Article 103021"},"PeriodicalIF":9.1,"publicationDate":"2025-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143747780","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Adaptive robotic polishing based on distributed flexible force sensors

IF 9.1 1区计算机科学

Robotics and Computer-integrated Manufacturing Pub Date : 2025-03-28 DOI: 10.1016/j.rcim.2025.103020

Yong-Sheng Dong, Sheng-Jun Ao, Hu Gong

{"title":"Adaptive robotic polishing based on distributed flexible force sensors","authors":"Yong-Sheng Dong, Sheng-Jun Ao, Hu Gong","doi":"10.1016/j.rcim.2025.103020","DOIUrl":"10.1016/j.rcim.2025.103020","url":null,"abstract":"<div><div>Force control plays a critical role in the robotic polishing process. Traditional force control methods primarily emphasize regulating the precise contact force value while paying limited attention to the distribution of force within the contact surface. Drawing inspiration from manual polishing techniques that employ tactile sensing, this study introduces an innovative robotic adaptive polishing system incorporating distributed flexible sensors. The experimental platform was developed based on robot and distributed flexible sensor to measure distributed contact force, and a force value and distribution state tracking control strategy is introduced to achieve stable and desired contact force value along with uniform force distribution state. The system's efficacy was rigorously evaluated through both virtual simulations and experimental validations, which confirmed its superior tracking performance. Comparative machining experiments further substantiated that the proposed strategy significantly enhances surface quality consistency over traditional methods. This approach has significant potential for further development, particularly in robotic polishing or other force control applications involving contact areas.</div></div>","PeriodicalId":21452,"journal":{"name":"Robotics and Computer-integrated Manufacturing","volume":"95 ","pages":"Article 103020"},"PeriodicalIF":9.1,"publicationDate":"2025-03-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143724470","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

ATD-GCN: A human activity recognition approach for human-robot collaboration based on adaptive skeleton tree-decomposition

IF 9.1 1区计算机科学

Robotics and Computer-integrated Manufacturing Pub Date : 2025-03-28 DOI: 10.1016/j.rcim.2025.103019

Xijin Yang , Chenyi Weng , Lei Jiao , Tingyu Liu , Jiewu Leng , Yuqian Lu , Baicun Wang , Zhonghua Ni

{"title":"ATD-GCN: A human activity recognition approach for human-robot collaboration based on adaptive skeleton tree-decomposition","authors":"Xijin Yang , Chenyi Weng , Lei Jiao , Tingyu Liu , Jiewu Leng , Yuqian Lu , Baicun Wang , Zhonghua Ni","doi":"10.1016/j.rcim.2025.103019","DOIUrl":"10.1016/j.rcim.2025.103019","url":null,"abstract":"<div><div>In contemporary intelligent manufacturing environments, scalability and flexibility have emerged as critical requirements for human-robot collaboration (HRC) systems. As the cornerstone of effective HRC implementations, human activity recognition (HAR) is indispensable for accurate understanding of human operational intent and improving HRC in dynamic industrial environments. Recently, graph convolutional networks (GCNs) based on skeleton data have become the most popular methods for HAR. Existing approaches frequently overlook the critical design of topology graphs and skeleton features, resulting in delayed responses and incorrect decisions in HRC systems. To address these challenges, we propose an adaptive human skeleton Tree-Decomposition approach (ATD-GCN). First, the Tree-Decomposition (TD) graph is defined by dividing skeleton nodes into levels with consistent semantic information, where adjacent levels are connected through three hierarchies. Second, we develop a Hierarchical Attention (HA) module to adaptively emphasize the dominant hierarchy within the TD graph. Furthermore, we apply 6DoF theory to the design of skeleton features and develop a multi-stream network integration strategy. Finally, we conduct comprehensive experiments on three datasets and validate the method in the HRC workshop. Experimental results show that our model achieves outstanding performance while remaining lightweight. The proposed ATD-GCN approach makes substantial contributions to HRC by enabling more responsive and adaptive robot behavior through enhanced HAR, thus advancing the development of human-centric smart manufacturing systems.</div></div>","PeriodicalId":21452,"journal":{"name":"Robotics and Computer-integrated Manufacturing","volume":"95 ","pages":"Article 103019"},"PeriodicalIF":9.1,"publicationDate":"2025-03-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143714362","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Superimposed Poisson Distribution Variable Neighborhood Search for Scheduling of Parallel Multi-track Shuttle Loop System

IF 9.1 1区计算机科学

Robotics and Computer-integrated Manufacturing Pub Date : 2025-03-23 DOI: 10.1016/j.rcim.2025.103016

Wenbin Zhang , Youshan Liu , Chunjiang Zhang , Weiming Shen

{"title":"Superimposed Poisson Distribution Variable Neighborhood Search for Scheduling of Parallel Multi-track Shuttle Loop System","authors":"Wenbin Zhang , Youshan Liu , Chunjiang Zhang , Weiming Shen","doi":"10.1016/j.rcim.2025.103016","DOIUrl":"10.1016/j.rcim.2025.103016","url":null,"abstract":"<div><div>This article presents a layout scenario of parallel multiple tracks shuttle loop system and its scheduling method within an automated storage and retrieval system. Leveraging the motion mathematical model articulated through angular coordinates and track coding, we established a multi-agent simulation environment. The simulation encompasses RGV agents, task assignment agents, track allocation agents, and charging decision-making agents. The actions of individual agents are directly or indirectly guided by a three-tier decision coding method. We also propose a heuristic algorithm, termed Superimposed Poisson Distribution-Variable Neighborhood Search, to optimize system efficiency through Simulation-Based Optimization. Numerical experiments validate the performance of the algorithm using example scenarios of varying scales. Furthermore, we confirm the superior efficiency of parallel multiple track layouts, assess the impact of the number of RGVs on system throughput, and identify the optimal number of RGVs for different track layout configurations. A sensitivity analysis is conducted to explore the effect of physical parameters on system efficiency.</div></div>","PeriodicalId":21452,"journal":{"name":"Robotics and Computer-integrated Manufacturing","volume":"95 ","pages":"Article 103016"},"PeriodicalIF":9.1,"publicationDate":"2025-03-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143679372","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Development of a continuum robot with inflatable stiffness-adjustable elements for in-situ repair of aeroengines

IF 9.1 1区计算机科学

Robotics and Computer-integrated Manufacturing Pub Date : 2025-03-22 DOI: 10.1016/j.rcim.2025.103018

Jung-Che Chang, Hengtai Dai, Xi Wang, Dragos Axinte, Xin Dong

{"title":"Development of a continuum robot with inflatable stiffness-adjustable elements for in-situ repair of aeroengines","authors":"Jung-Che Chang, Hengtai Dai, Xi Wang, Dragos Axinte, Xin Dong","doi":"10.1016/j.rcim.2025.103018","DOIUrl":"10.1016/j.rcim.2025.103018","url":null,"abstract":"<div><div>Continuum robots, with their slender configuration and high redundancy, gain increasing interest in industrial applications such as intervention within confined spaces. However, when the robot end effector is required to travel a long distance, the existing products need a large actuation pack and complicated control strategy for a decent accuracy. This paper presents a continuum robot with a novel stiffness-adjustable mechanism designed to address conditions requiring high tip accuracy in long-reach confined spaces. Key innovations include (1) a section capable of inflating its diameter tenfold for the support of a 6-DoF continuum section, (2) a predictive model for a hybrid stiffening arm, and (3) a manual insertion approach that reduces actuation complexity. The proposed design was validated through a prototype that performed repairs on a thermal barrier coating within an aeroengine. During trials, a 12.6 mm diameter arm was inserted through an access port with a diameter of < 15 mm, inflated to 120 mm to securely lock in place, and enabled precise six degrees of freedom (6-DoF) control. The predictive model achieved a Root Mean Square Error below 1.14 mm under payload, demonstrating enhanced positional accuracy compared to traditional continuum robots. These results mark a significant advancement towards robust, precise operations in restricted industrial environments.</div></div>","PeriodicalId":21452,"journal":{"name":"Robotics and Computer-integrated Manufacturing","volume":"95 ","pages":"Article 103018"},"PeriodicalIF":9.1,"publicationDate":"2025-03-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143679371","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A novel production execution logic model with directed service node pairs and encapsulated service cells for efficient scheduling and simulation in discrete manufacturing shops

IF 9.1 1区计算机科学

Robotics and Computer-integrated Manufacturing Pub Date : 2025-03-19 DOI: 10.1016/j.rcim.2025.103017

Mingyuan Liu , Jiaxiang Xie , Jian Zhang , Shengfeng Qin , Guofu Ding , Haojie Chen

{"title":"A novel production execution logic model with directed service node pairs and encapsulated service cells for efficient scheduling and simulation in discrete manufacturing shops","authors":"Mingyuan Liu , Jiaxiang Xie , Jian Zhang , Shengfeng Qin , Guofu Ding , Haojie Chen","doi":"10.1016/j.rcim.2025.103017","DOIUrl":"10.1016/j.rcim.2025.103017","url":null,"abstract":"<div><div>In discrete manufacturing shops, dynamic uncertainty disturbances necessitate frequent scheduling and simulation, posing significant challenges to the efficiency of traditional methods. Therefore, effective production execution logic models are required to manage these dynamics and enhance the efficiency of scheduling and simulation. However, existing production execution logic models lack comprehensive integration of flows of information, control, and material (FICM), making it difficult to effectively describe the dynamic production execution logic and limiting their ability to optimize scheduling and simulation processes. To address this challenge, by extending the seven-elements (SE) and material node-oriented seven-elements (MNOSE) models, this paper proposes a production execution logic model with directed service node pairs and encapsulated service cells (PELM-DaE). The model achieves the representation and integration of FICM, enabling an effective description of dynamic production execution logic. Based on PELM-DaE, a method for constructing connectivity maps is proposed, which allows the characterization of job execution relationships and constraints and the pre-computation of FICM. Additionally, by dynamically constructing and continuously applying connectivity maps, a connectivity map-based framework is proposed to support efficient scheduling and simulation. Based on the above research content, a software platform is developed to implement the encapsulation of the proposed model and method. The practicality and advantages of the model and method in describing the production execution logic and improving the efficiency of scheduling simulation are verified based on an actual manufacturing shop floor.</div></div>","PeriodicalId":21452,"journal":{"name":"Robotics and Computer-integrated Manufacturing","volume":"95 ","pages":"Article 103017"},"PeriodicalIF":9.1,"publicationDate":"2025-03-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143672839","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Study on dynamics modelling and stiffness strengthening method for mobile industrial robot in-situ milling machining

IF 9.1 1区计算机科学

Robotics and Computer-integrated Manufacturing Pub Date : 2025-03-14 DOI: 10.1016/j.rcim.2025.103014

Yunfei Miao , Zhuoheng Yang , Wei Liu , Wei Tian , Pinzhang Wang , Bo Li

{"title":"Study on dynamics modelling and stiffness strengthening method for mobile industrial robot in-situ milling machining","authors":"Yunfei Miao , Zhuoheng Yang , Wei Liu , Wei Tian , Pinzhang Wang , Bo Li","doi":"10.1016/j.rcim.2025.103014","DOIUrl":"10.1016/j.rcim.2025.103014","url":null,"abstract":"<div><div>Accurate analysis of the dynamic characteristics of a mobile industrial robot (MIR) is essential for evaluating and enhancing its machining performance. In the case of mobile heavy-load milling industrial robots, the significant weight of the end-effector and periodic external excitations highlight the flexibility of joints and links. This flexibility considerably affects the vibration characteristics and milling quality of the system. This work proposes a new multi-rigid-flexible coupling dynamics model for the MIR that employs the multibody systems transfer matrix method. The overall transfer equations and dynamics response equations for the system are derived. This method is distinguished by its high programmability, low system matrix order, and strong versatility. To validate the proposed method, modal experiments and excitation response tests have been designed in this work. Additionally, the influence of joint stiffness, joint angle, and link flexibility on the dynamic characteristics of the MIR is thoroughly analyzed. An evaluation index is developed to enhance the system's stiffness during milling that integrates both static and dynamic characteristics based on the analysis of these influencing factors. Finally, the feasibility and effectiveness of the stiffness enhancement model are verified after performing various milling experiments.</div></div>","PeriodicalId":21452,"journal":{"name":"Robotics and Computer-integrated Manufacturing","volume":"95 ","pages":"Article 103014"},"PeriodicalIF":9.1,"publicationDate":"2025-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143620166","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0