Manufacturing Letters最新文献_第9页

Bridging Human Intents to Dexterous Grasp: A Language-guided Functional Grasping Approach for Human-centric Smart Manufacturing 桥梁人的意图灵巧的抓取：语言指导的功能抓取方法，以人为中心的智能制造

IF 2.8

Manufacturing Letters Pub Date : 2026-10-01 Epub Date: 2026-10-05 DOI: 10.1016/j.mfglet.2026.07.015

Benhua Gao, Tian Wang, Xinyu Ning, Pai Zheng

{"title":"Bridging Human Intents to Dexterous Grasp: A Language-guided Functional Grasping Approach for Human-centric Smart Manufacturing","authors":"Benhua Gao, Tian Wang, Xinyu Ning, Pai Zheng","doi":"10.1016/j.mfglet.2026.07.015","DOIUrl":"10.1016/j.mfglet.2026.07.015","url":null,"abstract":"<div><div>Enabling collaborative robots to interpret human intent and execute task-specific manipulations constitutes a core requirement for human-centric smart manufacturing, where seamless integration of cognitive flexibility and robotic capability drives production adaptability. Achieving this objective, however, remains constrained when substituting two-fingered grippers with multi-fingered dexterous hands. To overcome these barriers, this paper introduces a novel approach that bridges human intents to dexterous functional grasping. The proposed approach unifies cross-modal 3D affordance segmentation with conditional variational autoencoder-based grasp synthesis, leveraging affordance concepts to align perceptual understanding with task execution while generating diverse, functional grasp poses under multimodal conditioning. To enable real-world deployment with open-vocabulary human instructions, an in-context affordance reasoning module powered by vision-language models parses human instructions and scene context into precise affordance labels. Extensive experiments demonstrate superior performance, achieving 85.5% accuracy in 3D affordance segmentation and low errors in grasp generation. Real-world deployments validate its practicality in collaborative assembly scenarios, such as tool-use and handover, paving the way for more seamless, embodied human-robot collaboration.</div></div>","PeriodicalId":38186,"journal":{"name":"Manufacturing Letters","volume":"49 ","pages":"Pages 58-65"},"PeriodicalIF":2.8,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149095961","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Design, Analysis, and Prototype of The Mars Sintering System (MRSS) 火星烧结系统（MRSS）的设计、分析与原型

IF 2.8

Manufacturing Letters Pub Date : 2026-10-01 Epub Date: 2026-10-05 DOI: 10.1016/j.mfglet.2026.07.090

Fatemeh Mozaffar, Mozhdeh Rahmanpour, Pourya Fallahi, Elisabeth Kames, Beshoy Morkos

{"title":"Design, Analysis, and Prototype of The Mars Sintering System (MRSS)","authors":"Fatemeh Mozaffar, Mozhdeh Rahmanpour, Pourya Fallahi, Elisabeth Kames, Beshoy Morkos","doi":"10.1016/j.mfglet.2026.07.090","DOIUrl":"10.1016/j.mfglet.2026.07.090","url":null,"abstract":"<div><div>As human exploration of Mars advances, autonomous in-situ construction systems are required to enable sustainable surface infrastructure. This study presents the design, prototyping, and experimental evaluation of a Mars Sintering System (MRSS) capable of converting Martian regolith simulant into structurally stable bricks for robotic assembly. Developed in collaboration with NASA’s Jet Propulsion Laboratory, the system targets autonomous operation under Martian constraints including low atmospheric pressure, reduced convective heat transfer, limited power availability, and high dust exposure. Multiple sintering approaches,furnace, microwave, laser, and solar-assisted heating, were experimentally evaluated using JSC Mars-1A simulant. Results indicate that effective densification occurs above 1050 °C, with dwell time, charge mass, and container geometry significantly influencing consolidation. Furnace sintering provided the most consistent bulk densification, while microwave sintering achieved comparable cohesion with lower power consumption and cycle times of 15–25 min per brick. Laser-based heating enabled localized melting but required power levels impractical for near-term deployment. Preliminary mechanical testing confirmed that optimized samples exhibit sufficient compressive integrity for non-load-bearing applications such as shielding and structural infill. The MRSS integrates thermal processing, automated handling, and low-power operation within a prototype system constrained by budget and energy limits. These findings demonstrate the feasibility of sintering-based regolith processing for autonomous planetary construction and provide design guidance for future Mars surface manufacturing systems.</div></div>","PeriodicalId":38186,"journal":{"name":"Manufacturing Letters","volume":"49 ","pages":"Pages 765-777"},"PeriodicalIF":2.8,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149096087","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Development of Ultrasonic Vibration Augmented Hybrid Additive Manufacturing Setup for Improving Interlayer Adhesion 提高层间附着力的超声振动增强复合增材制造装置的研制

IF 2.8

Manufacturing Letters Pub Date : 2026-10-01 Epub Date: 2026-10-05 DOI: 10.1016/j.mfglet.2026.07.092

Raihan Quader, Lokesh Karthik Narayanan

{"title":"Development of Ultrasonic Vibration Augmented Hybrid Additive Manufacturing Setup for Improving Interlayer Adhesion","authors":"Raihan Quader, Lokesh Karthik Narayanan","doi":"10.1016/j.mfglet.2026.07.092","DOIUrl":"10.1016/j.mfglet.2026.07.092","url":null,"abstract":"<div><div>This work develops an in-situ hybrid additive manufacturing approach that couples ultrasonic vibration (USV) with fused deposition modeling (FDM) to strengthen interlayer adhesion and improve mechanical performance. Designated as Contour Scanning Mode (CSM), this approach facilitates the travel of an ultrasonic horn across deposited layers by following image-derived toolpaths while the printing is paused and the printer bed remains stationary. A legacy FDM platform was retrofitted to accommodate the three-axis motion of the ultrasonic-horn applicator, and a Raspberry Pi with additional components was utilized to execute image processing to extract object contour and tool paths and to direct the horn movement. To test the developed system, ASTM D256 Izod impact specimens were prepared by using poly(lactic) acid (PLA) and tested. Compared to control samples, CSM USV applied samples displayed ∼25% increase in impact resistance. This indicates enhanced interlayer adhesion through improved polymer chain diffusion via squeeze flow of remelted material. Digital microscopy revealed reduced voids and more consolidated layers, corroborating the results. As the preliminary data demonstrate the efficacy of the developed hybrid method, more in-depth experiments are in progress to characterize the associated effects for different layer combinations through tensile, impact, and morphological property testing. But this article will broadly focus on the iterative details of the CSM USV application system development rather than on the detailed results. In the future, an effort to improve the current method for adapting to different 3D geometrical shapes will be undertaken.</div></div>","PeriodicalId":38186,"journal":{"name":"Manufacturing Letters","volume":"49 ","pages":"Pages 785-793"},"PeriodicalIF":2.8,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149096089","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Surface Roughness and Edge Roundness in Robotic-Assisted Abrasive Finishing of Metal Additive Manufactured Al-Si10-Mg Alloy 机械辅助磨料精加工Al-Si10-Mg合金的表面粗糙度和边缘圆度

IF 2.8

Manufacturing Letters Pub Date : 2026-10-01 Epub Date: 2026-10-05 DOI: 10.1016/j.mfglet.2026.07.075

Ahmed Asif Razin, Brigid Mullany, Jose Outeiro

{"title":"Surface Roughness and Edge Roundness in Robotic-Assisted Abrasive Finishing of Metal Additive Manufactured Al-Si10-Mg Alloy","authors":"Ahmed Asif Razin, Brigid Mullany, Jose Outeiro","doi":"10.1016/j.mfglet.2026.07.075","DOIUrl":"10.1016/j.mfglet.2026.07.075","url":null,"abstract":"<div><div>Metal Additive Manufacturing (AM) components often exhibit poor as-built surface integrity, characterized by high roughness, surface defects, and tensile residual stresses, which can significantly affect their functional performance and lifespan. This study investigates the influence of a Robot-Assisted Abrasive Finishing (RAF) system on the surface roughness and edge roundness of Al-10Si-Mg parts fabricated by Laser Powder Bed Fusion (LPBF). The RAF system is based on the tribofinishing and enables the adaptive control of key process parameters, including abrasive media material and geometry, relative motion between the part and the media, and metalworking fluid. Surface roughness parameters (Sa, Sz, Sq) were measured using 3D Coherent Scanning Interferometry, which also allowed monitoring of edge radius evolution during polishing to assess the system’s capability to preserve geometrical features. Although parts finished using the hybrid mode that combines drag and vibratory finishing kinematics exhibit surface asperities and processing times comparable to those obtained with drag finishing alone, this approach produces sharper workpiece edges than drag finishing by itself. In contrast, vibratory finishing requires a longer processing time than both drag finishing and the hybrid process, but it is more effective in preserving edge roundness.</div></div>","PeriodicalId":38186,"journal":{"name":"Manufacturing Letters","volume":"49 ","pages":"Pages 633-643"},"PeriodicalIF":2.8,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149096178","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Smart Sampling for Data-Efficient Three-Dimensional Reconstruction of Additively Manufactured Parts 基于数据高效的增材制造零件三维重建的智能采样

IF 2.8

Manufacturing Letters Pub Date : 2026-10-01 Epub Date: 2026-10-05 DOI: 10.1016/j.mfglet.2026.07.059

Devashish R. Kulkarni, Hossein Kabir, William P. King

{"title":"Smart Sampling for Data-Efficient Three-Dimensional Reconstruction of Additively Manufactured Parts","authors":"Devashish R. Kulkarni, Hossein Kabir, William P. King","doi":"10.1016/j.mfglet.2026.07.059","DOIUrl":"10.1016/j.mfglet.2026.07.059","url":null,"abstract":"<div><div>Additive manufacturing can produce complex three-dimensional (3D) geometries that can be challenging to inspect and measure. One potential solution is photogrammetry, which can reconstruct 3D shapes from 2D photographs. However, photogrammetry requires many photographs covering the entire surface of the object being inspected, introducing time and cost that are barriers to real-world application. This paper develops a novel method to reduce the number of photographs required for accurate 3D reconstruction. The method automatically selects views showing intricate features of the part and minimizes redundancy for views covering less complex regions. The image selection is based on an image difference score that is derived from a feature matching algorithm based on deep learning (LightGlue). The smart-sampled image set significantly enhances 3D reconstruction fidelity compared to an identical number of equally spaced images, achieving an order of magnitude reduction in Mean Absolute Error (MAE) and a 10-20 dB improvement in Peak Signal-to-Noise Ratio (PSNR). Notably, a smart-sampled set of just 15 images provides comparable accuracy to 60 equally spaced images, and achieves a 33% reduction in compute time.</div></div>","PeriodicalId":38186,"journal":{"name":"Manufacturing Letters","volume":"49 ","pages":"Pages 485-494"},"PeriodicalIF":2.8,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149096155","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Nanotechnology-Enabled Rapid Investment Casting of AA7075 Smartwatch Enclosures 纳米技术支持的AA7075智能手表外壳快速熔模铸造

IF 2.8

Manufacturing Letters Pub Date : 2026-10-01 Epub Date: 2026-10-05 DOI: 10.1016/j.mfglet.2026.07.057

Guan-Cheng Chen, Alexander Killips, Xiaochun Li

{"title":"Nanotechnology-Enabled Rapid Investment Casting of AA7075 Smartwatch Enclosures","authors":"Guan-Cheng Chen, Alexander Killips, Xiaochun Li","doi":"10.1016/j.mfglet.2026.07.057","DOIUrl":"10.1016/j.mfglet.2026.07.057","url":null,"abstract":"<div><div>Aluminum alloy 7075 offers exceptional specific strength for consumer and aerospace applications, yet its wide freezing range leads to severe hot cracking and poor fluidity, and a strong tendency for surface defects, making thin-walled components extremely difficult to cast. This study applies nano-treating, where a small fraction of TiC nanoparticles is dispersed into AA7075, to modify solidification behavior and improve castability. The nano-treated alloy exhibited enhanced fluidity, refined grains, delayed solidification, and improved melt–mold wettability, enabling complete filling and the elimination of hot cracking during vacuum-assisted rapid investment casting. Using this enhanced castability, 1 mm thick cosmetic-grade smart watch enclosures were successfully produced from nano-treated AA7075. Previous mechanical results further indicate that the T6 cast result approaches the hardness of wrought AA7075-T6. These findings demonstrate that nanotechnology-enabled casting expands the manufacturable design space of AA7075 and provides a rare defect-free casting solution, offering a pathway to produce high-quality thin-wall components that traditionally rely on full CNC machining.</div></div>","PeriodicalId":38186,"journal":{"name":"Manufacturing Letters","volume":"49 ","pages":"Pages 465-472"},"PeriodicalIF":2.8,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149096301","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Laser Polishing for Enhanced Micro-grooving of Silicon Wafers 激光抛光增强硅片微沟槽

IF 2.8

Manufacturing Letters Pub Date : 2026-10-01 Epub Date: 2026-10-05 DOI: 10.1016/j.mfglet.2026.07.051

Youngchul Kwon, Hao Fu, Mohammad Mohammadzadeh Sanandaji, Mohammad Ikram Haider, Avik Samanta, Hongtao Ding

{"title":"Laser Polishing for Enhanced Micro-grooving of Silicon Wafers","authors":"Youngchul Kwon, Hao Fu, Mohammad Mohammadzadeh Sanandaji, Mohammad Ikram Haider, Avik Samanta, Hongtao Ding","doi":"10.1016/j.mfglet.2026.07.051","DOIUrl":"10.1016/j.mfglet.2026.07.051","url":null,"abstract":"<div><div>In semiconductor packaging, wafers are separated into individual chips through a process known as dicing, which can be performed using a mechanical blade or laser-based methods. In laser dicing, one common approach is laser grooving, where the laser forms shallow channels along the dicing lanes to guide the final mechanical separation of dies. While this method offers high precision and minimal mechanical stress, it can also create surface defects such as microcracks, recast layers, and debris that reduce die strength and yield. This study introduces a two-step laser-based process aimed at improving the surface quality of grooves formed during laser dicing. In the first step, a nanosecond ultraviolet (UV) laser ablates microchannels with controlled geometry at a pulse fluence of approximately 19.9 J/cm<sup>2</sup>. In the second step, the same laser re-scans the grooves at lower laser pulse fluence (∼10.6 J/cm<sup>2</sup>) to induce localized melting and re-solidification, smoothing the sidewalls and reducing surface roughness without additional ablation. Surface analyses using laser profilometry and scanning electron microscopy (SEM) showed that this approach significantly improves surface uniformity and minimizes residual defects. The proposed method can be readily integrated into existing dicing workflows that combine laser grooving with mechanical separation, providing a cleaner and more reliable route for high-yield semiconductor packaging.</div></div>","PeriodicalId":38186,"journal":{"name":"Manufacturing Letters","volume":"49 ","pages":"Pages 410-415"},"PeriodicalIF":2.8,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149096303","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Machine Learning Assisted Prediction of Corrosion Characteristics in Zinc-Nickel Electroplating Processes 机器学习辅助预测锌镍电镀过程中的腐蚀特性

IF 2.8

Manufacturing Letters Pub Date : 2026-10-01 Epub Date: 2026-10-05 DOI: 10.1016/j.mfglet.2026.07.052

Prayag Gore, Xander Ryan, Murali Sundaram

{"title":"Machine Learning Assisted Prediction of Corrosion Characteristics in Zinc-Nickel Electroplating Processes","authors":"Prayag Gore, Xander Ryan, Murali Sundaram","doi":"10.1016/j.mfglet.2026.07.052","DOIUrl":"10.1016/j.mfglet.2026.07.052","url":null,"abstract":"<div><div>Corrosion resistance of electroplated surfaces is a crucial functionality desired across multiple manufacturing industries. Zinc-Nickel (Zn-Ni) coatings are widely used for their excellent corrosion resistance and low costs. Corrosion resistance of the electroplated surface is defined by corrosion potential, corrosion current density, and percentages of coated metals. These characteristics are heavily influenced by the operating parameters of the electroplating process, such as bath pH, electrolyte temperature, current density, molar mass of additives, and metal ion concentrations. Determining the coating characteristics experimentally is time-consuming and resource-intensive. In this work, data published through multiple Zn-Ni electroplating studies are leveraged to compile a literature-derived dataset. A data-driven methodology is developed to accurately predict the coating characteristics directly from the process parameters. Following data cleaning and standardization, principal component analysis (PCA) is performed for dimensionality reduction. Support vector regression (SVR) and multilayer perceptron (MLP) regression models are trained for predicting coating characteristics. The regression models’ performance is evaluated on an unseen test dataset. The SVR and MLP regression models achieve R<sup>2</sup> = 0.84 to 0.87 across all four characteristics, with mean absolute errors (MAE) of 44 mV for E<sub>corr</sub>, 0.53 mA/cm<sup>2</sup> for I<sub>corr,</sub> and 1.5 wt. % for zinc and nickel weight fractions. The best models capture more than 84 % of the variance in the compiled dataset. Based on these performance metrics, the model predictions can be further used as effective screening tools to eliminate operating conditions while experimentally developing new electrolyte solutions for the electroplating process.</div></div>","PeriodicalId":38186,"journal":{"name":"Manufacturing Letters","volume":"49 ","pages":"Pages 416-424"},"PeriodicalIF":2.8,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149096310","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Manufacturing structural battery composites with high mechanical performance using hot pressing technique 利用热压技术制备高机械性能的结构电池复合材料

IF 2.8

Manufacturing Letters Pub Date : 2026-10-01 Epub Date: 2026-10-05 DOI: 10.1016/j.mfglet.2026.07.053

Yubo Hu, Deyong Sun, Mengfei Feng, Weizhao Zhang

{"title":"Manufacturing structural battery composites with high mechanical performance using hot pressing technique","authors":"Yubo Hu, Deyong Sun, Mengfei Feng, Weizhao Zhang","doi":"10.1016/j.mfglet.2026.07.053","DOIUrl":"10.1016/j.mfglet.2026.07.053","url":null,"abstract":"<div><div>Structural battery composites (SBCs), which offer both advantages of energy storage and resistance to mechanical failure, have become a prominent topic in the next generation advanced battery technology. However, the current mechanical performance of SBCs does not meet the requirements for industrial applications due to inferior forming quality and unstable process control. To address the issue, this work presents a novel vacuum assisted hot pressing process and integrated manufacturing strategy that simultaneously addresses high-temperature compatibility between electrolyte and resin, pressure control during curing and one-step manufacturing of the SBCs. The fabricated SBCs achieved high mechanical properties with ultimate tensile strength of 371.86 MPa and Young’s modulus of 40.35 GPa. The coin cells based on the carbon fabric electrodes were assembled using the high temperature and high-pressure manufacturing method and undergone a 200-cycle galvanostatic charge-discharge test, showing high initial capacity of 126.6 mAh/g and good capacity retention. The proposed manufacturing process can be applied to various battery combinations, including the state-of-the-art SBCs with quasi-solid or all solid electrolytes.</div><div>© 2026 The Authors. Published by ELSEVIER Ltd. This is an open access article under the CC BY-NC-ND license (<span><span>https://creativecommons.org/licenses/by-nc-nd/4.0</span><svg><path></path></svg></span>)</div><div>Peer-review under responsibility of the scientific committee of the NAMRI|SME.</div></div>","PeriodicalId":38186,"journal":{"name":"Manufacturing Letters","volume":"49 ","pages":"Pages 425-431"},"PeriodicalIF":2.8,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149096331","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Modeling of Robotic Manipulators Using a Moment-Loading Kinematic Error Method 基于力矩加载运动误差法的机械臂建模

IF 2.8

Manufacturing Letters Pub Date : 2026-10-01 Epub Date: 2026-10-05 DOI: 10.1016/j.mfglet.2026.07.026

Grant Bergstrom, Douglas Bristow

{"title":"Modeling of Robotic Manipulators Using a Moment-Loading Kinematic Error Method","authors":"Grant Bergstrom, Douglas Bristow","doi":"10.1016/j.mfglet.2026.07.026","DOIUrl":"10.1016/j.mfglet.2026.07.026","url":null,"abstract":"<div><div>Industrial robots are often are much less accurate than they are repeatable. There is significant research interest in using industrial robot arms for applications which require high accuracy such as robotic machining. A variety of robot calibration methods have been developed to improve robot accuracy including geometric methods, which identify best-fit offsets to Denavit-Hartenberg parameters (DH parameters) or equivalents. Other non-geometric calibration methods including Volumetric Error Compensation (VEC) use higher-order models that can capture complex kinematic errors arising from robot joint non-linearity. An extended VEC model incorporating deflection due to loading about the axis of each robot joint is introduced in this paper. Calibration performance was compared between a <span><math><mrow><msup><mrow><mn>3</mn></mrow><mrow><mi>rd</mi></mrow></msup></mrow></math></span> degree VEC model, a <span><math><mrow><msup><mrow><mn>6</mn></mrow><mrow><mi>th</mi></mrow></msup></mrow></math></span> degree VEC model, and the extended model incorporating robot deflection. The VEC model demonstrated a 99% gamma distribution position error of 1.85 mm, or approximately 4.9 times the Motoman MH180’s bi-directional position repeatability on a separate validation set of measurements. Using the extended model incorporating robot deflection improved the mean position error by 46% to 0.99 mm or to 2.6 times the bi-directional position repeatability of the Motoman MH180 robot.</div></div>","PeriodicalId":38186,"journal":{"name":"Manufacturing Letters","volume":"49 ","pages":"Pages 165-175"},"PeriodicalIF":2.8,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149096526","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0