Robotics and Computer-integrated Manufacturing最新文献_第3页

VL-GRiP3: A hierarchical pipeline leveraging vision-language models for autonomous robotic 3D grasping VL-GRiP3：一种利用视觉语言模型的分层管道，用于自主机器人三维抓取

IF 11.4 1区计算机科学 Q1 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS

Robotics and Computer-integrated Manufacturing

Pub Date : 2026-01-27 DOI: 10.1016/j.rcim.2026.103244

Mirco Polonara , Xingyu Yang , Luca Carbonari , Xuping Zhang

Autonomous grasping has long been a central topic in robotics, yet deployment in small and medium-sized enterprises (SMEs) is still hindered by low-level robot programming and the lack of natural language interaction. Recent Vision-Language-Action models (VLAs) allow robots to interpret natural language commands for intuitive interaction and control, but they still exhibit output uncertainty and are not yet well suited to directly generating reliable, precise actions in safety-critical industrial contexts. To address this gap, we present VL-GRiP3, a hierarchical Vision-Language model (VLM)-enabled pipeline for autonomous 3D robotic grasping that bridges natural language interaction and accurate, reliable manipulation in SME settings. The framework decomposes language understanding, perception, and action planning in a transparent modular architecture, improving flexibility and interpretability. Within this architecture, a single VLM backbone handles natural language interpretation, target perception, and high-level action planning. CAD-augmented point cloud registration then mitigates occlusions in single RGB-D views while keeping hardware cost low, and an M2T2-based grasp planner predicts accurate 3D grasp poses that explicitly account for complex object geometry from the augmented point cloud, enabling reliable manipulation of irregular industrial parts. Experiments show that our fine-tuned VLM modules achieve segmentation performance comparable to YOLOv8n, and VL-GRiP3 attains a 94.67% success rate over 150 randomized grasping trials. A comparative evaluation against state-of-the-art end-to-end VLAs further indicates that our modular, CAD-augmented design with explicit 3D grasp pose prediction yields more reliable and controllable behavior for SME manufacturing applications.

自主抓取一直是机器人技术的核心课题，但在中小企业（sme）中的部署仍然受到低级机器人编程和缺乏自然语言交互的阻碍。最近的视觉语言动作模型（VLAs）允许机器人解释自然语言命令，以实现直观的交互和控制，但它们仍然表现出输出的不确定性，并且还不适合在安全关键的工业环境中直接生成可靠、精确的动作。为了解决这一差距，我们提出了VL-GRiP3，这是一种支持分层视觉语言模型（VLM）的自主3D机器人抓取管道，可以在中小企业环境中架起自然语言交互和准确、可靠操作的桥梁。该框架将语言理解、感知和行动计划分解为透明的模块化架构，提高了灵活性和可解释性。在这个体系结构中，一个VLM主干处理自然语言解释、目标感知和高级行动计划。cad增强点云配准可以减轻单个RGB-D视图中的遮挡，同时保持较低的硬件成本，基于m2t2的抓取规划器可以预测精确的3D抓取姿势，明确考虑增强点云中复杂物体的几何形状，从而能够可靠地操作不规则工业零件。实验表明，我们的微调VLM模块的分割性能与YOLOv8n相当，VL-GRiP3在150次随机抓取试验中获得了94.67%的成功率。与最先进的端到端VLAs的比较评估进一步表明，我们的模块化cad增强设计具有明确的3D抓取姿势预测，为中小企业制造应用提供了更可靠和可控的行为。

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引用次数: 0

Constraint-based redundancy resolution for nozzle orientation in 8-axis robot-assisted DED: A case on revolved components 基于约束的八轴机器人辅助DED喷嘴定位冗余度求解：以旋转部件为例

IF 11.4 1区计算机科学 Q1 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS

Robotics and Computer-integrated Manufacturing

Pub Date : 2026-01-27 DOI: 10.1016/j.rcim.2026.103248

Jiale Wu , Qi Liu , Jiachen Ye , Kai Ren , Yanlong Cao

Process planning is critical for robot-assisted Directed Energy Deposition (DED) on curved component manufacturing, which involves various factors such as laser parameters, nozzle orientation, velocity strategy, and non-printing paths. For the DED process with coaxial powder feeding, an 8-axis robot system consisting of a 6-axis robotic arm and a 2-axis positioner has 3 functionally redundant degrees of freedom, including axial rotation of the nozzle, tilt and rotation of the positioner. This research aims to achieve the optimal nozzle orientation for deposition by utilizing the redundancy of the 8-axis robot system. A nozzle orientation evaluation metric is initially proposed to evaluate that the nozzle axis vector is opposite to the gravity and aligned with the build surface normal vector. Subsequently, robot trajectory planning strategies with different nozzle orientation constraints are designed for revolved blades. Finally, actual printing was performed based on numerical simulation. The developed theoretical optimal robot trajectory planning strategies have achieved geometric accuracy primarily within ±1 mm. The method can be adapted to the fabrication of more complex curved components by appropriately relaxing the nozzle orientation constraints.

工艺规划是机器人辅助定向能沉积（DED）曲面部件制造的关键，涉及激光参数、喷嘴方向、速度策略和非打印路径等多种因素。对于同轴给粉DED工艺，由6轴机械臂和2轴定位器组成的8轴机器人系统具有3个功能冗余自由度，包括喷嘴轴向旋转、定位器倾斜和旋转。本研究的目的是利用八轴机器人系统的冗余性来实现最佳的喷嘴沉积方向。初步提出了一种喷嘴方向评价度量，用于评价喷嘴轴矢量是否与重力方向相反，是否与构建面法矢量对齐。随后，针对旋转叶片，设计了不同喷嘴方向约束下的机器人轨迹规划策略。最后，在数值模拟的基础上进行了实际打印。所开发的理论最优机器人轨迹规划策略的几何精度基本在±1mm以内。通过适当放宽喷嘴方向约束，该方法可以适用于制造更复杂的弯曲部件。

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引用次数: 0

Research progress in the dynamics of heavy-duty robots from the perspective of machining process 基于加工过程视角的重型机器人动力学研究进展

IF 11.4 1区计算机科学 Q1 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS

Robotics and Computer-integrated Manufacturing

Pub Date : 2026-01-27 DOI: 10.1016/j.rcim.2026.103250

Zhongqun Li , Qunli Shen , Wenjing Wu , Hailu Fan

Heavy-duty industrial robots are increasingly applied in machining due to their large workspace and flexible posture adjustment capabilities. However, their inherent low stiffness makes them highly susceptible to chatter during machining, which significantly restricts their further development and application. Conducting high-precision dynamic modeling for chatter prediction and adopting active/ passive chatter suppression techniques are crucial to achieving chatter-free machining. This paper systematically reviews the global research progress in the dynamics of heavy-duty robotic machining systems. Firstly, it outlines the core technologies and typical applications of heavy-duty robots in machining. Secondly, it comprehensively compares various modeling and prediction methods for the dynamic characteristics of heavy-duty robot end-effectors. Thirdly, it deeply analyzes the two main chatter mechanisms in robotic machining—regenerative chatter and modal coupling chatter—and their corresponding analytical and prediction methods. Subsequently, several representative chatter suppression technologies are summarized. Finally, conclusions are drawn based on the above analysis, and key directions for future research are proposed. Through a comprehensive review and in-depth exploration of the dynamics research of heavy-duty robot machining, this paper aims to provide valuable references and guidance for scholars in related fields.

重型工业机器人由于具有较大的工作空间和灵活的姿态调节能力，在机械加工中得到越来越多的应用。然而，其固有的低刚度使其在加工过程中极易产生颤振，这极大地限制了其进一步的发展和应用。实现无颤振加工的关键是建立高精度的颤振预测动力学模型和采用主动/被动颤振抑制技术。本文系统地综述了国内外重型机器人加工系统动力学的研究进展。首先，概述了重型机器人在机械加工中的核心技术和典型应用。其次，对重型机器人末端执行器动态特性的各种建模与预测方法进行了综合比较。再次，深入分析了机器人加工中的两种主要颤振机制——再生颤振和模态耦合颤振，以及相应的分析和预测方法。总结了几种具有代表性的颤振抑制技术。最后，在上述分析的基础上得出结论，并提出了未来研究的重点方向。本文旨在通过对重型机器人加工动力学研究的全面回顾和深入探讨，为相关领域的学者提供有价值的参考和指导。

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引用次数: 0

Adaptive active decoding and novel disjunctive graph-based improved genetic algorithm for multi-type machine robot cell scheduling in mass customization 大规模定制中多类型机器机器人单元调度的自适应主动解码和基于析取图的改进遗传算法

IF 11.4 1区计算机科学 Q1 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS

Robotics and Computer-integrated Manufacturing

Pub Date : 2026-01-23 DOI: 10.1016/j.rcim.2026.103246

Yue Teng , Tianhong Wang , Xinyu Li , Chunjiang Zhang , Liang Gao , Ziyue Wang , Weiming Shen

Mass customization represents a critical evolution in modern manufacturing. To achieve efficient large-scale production of low-volume and high-variety products, designing optimized robot cells for flexible automation has become a universal challenge for manufacturers. While our prior research has effectively addressed scheduling problem in robot cells with discrete processing machines (DPMs, each processing one job at a time), the integration of both DPMs and batch processing machines (BPMs, each process multiple jobs simultaneously) introduces significant complexity for fully utilizing productive capacities. This paper investigates the Multi-Type Machine Robot Cell Scheduling Problem (MRCSP) incorporating both DPMs and BPMs and the objective is to minimize makespan. Firstly, a mixed-integer linear programming (MILP) model is formulated to describe MRCSP exactly. Recognizing the challenge of converting batch-aware two-vector encoding into feasible schedules, an adaptive active decoding strategy termed selective insertion batch decoding (SIBD) is proposed. An improved genetic algorithm (IGA) is then developed integrating this tailored encoding/decoding approach and a novel disjunctive graph. Furthermore, a batch neighborhood structure (BN) leveraging problem-specific characteristics is designed. The proposed MILP and IGA were validated on three FJSP-BPM benchmarks. Computational results demonstrate that IGA outperforms existing methods across all instances. In real-world production case studies, the approach achieved a 15.02 % average makespan reduction compared to prior methods, significantly improving resource utilization at a robot cell in southern China.

大规模定制是现代制造业的一个重要演变。为了实现小批量、多品种产品的高效大规模生产，设计优化的柔性自动化机器人单元已成为制造商普遍面临的挑战。虽然我们之前的研究已经有效地解决了离散加工机器（dpm，每次处理一个作业）在机器人单元中的调度问题，但dpm和批处理机器（bpm，每个工序同时处理多个作业）的集成为充分利用生产能力引入了显著的复杂性。本文研究了包含dpm和bpm的多类型机器机器人单元调度问题（MRCSP），其目标是最小化完工时间。首先，建立了一个混合整数线性规划（MILP）模型来精确描述MRCSP。考虑到将批感知双矢量编码转换为可行调度的挑战，提出了一种自适应主动解码策略，即选择性插入批解码（SIBD）。然后开发了一种改进的遗传算法（IGA），将这种定制的编码/解码方法与一种新的析取图相结合。在此基础上，设计了一种利用问题特征的批邻域结构（BN）。提出的MILP和IGA在三个FJSP-BPM基准上进行了验证。计算结果表明，IGA在所有实例中都优于现有方法。在实际生产案例研究中，与之前的方法相比，该方法实现了15.02%的平均完工时间减少，显著提高了中国南方机器人工厂的资源利用率。

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引用次数: 0

A novel robotic welding trajectory planning system for steel structure workpieces based on vision-guided virtual assembly 基于视觉引导虚拟装配的钢结构工件机器人焊接轨迹规划系统

IF 11.4 1区计算机科学 Q1 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS

Robotics and Computer-integrated Manufacturing

Pub Date : 2026-01-22 DOI: 10.1016/j.rcim.2026.103243

Jiaqi Sun , Ze’an Liu , Yanfang Feng , Feng Pan , Ke Xiang , Xuanyin Wang

The welding robot system plays a crucial role in welding production in the construction industry. However, existing welding trajectory planning methods face challenges in achieving both accuracy and efficiency when dealing with large-scale steel structure workpieces that feature numerous weld seams with complex spatial distributions. Inspired by human welders, who rely on visual perception to assemble components and determine welding trajectories based on feature edges and relative component placement, a novel and flexible welding trajectory planning system based on vision-guided virtual assembly is proposed. The proposed system consists of three core tasks. Firstly, a process for extracting candidate weld seams from CAD mesh models is proposed to delineate potential welding areas for each component. Secondly, a point cloud registration process with multi-scale feature focusing is proposed to achieve accurate vision-guided virtual assembly of the workpiece. Finally, based on the virtual assembly result, a novel process for robotic welding trajectory planning based on the joint analysis of geometric feature edge clusters and spatial mesh distribution is proposed to generate safe and effective robot programs. According to an extensive series of experiments, the proposed robotic welding trajectory planning system effectively overcomes the limitations of existing methods, and achieves accurate and efficient welding of steel structure workpieces in the construction industry.

焊接机器人系统在建筑行业的焊接生产中起着至关重要的作用。然而，现有的焊接轨迹规划方法在处理焊缝数量多且空间分布复杂的大型钢结构工件时，在实现精度和效率方面面临挑战。摘要受人类焊工依靠视觉感知组装构件并根据特征边缘和构件的相对放置位置确定焊接轨迹的启发，提出了一种基于视觉引导的柔性焊接轨迹规划系统。提出的系统包括三个核心任务。首先，提出了一种从CAD网格模型中提取候选焊缝的方法，以描绘每个部件的潜在焊接区域；其次，提出了一种多尺度特征聚焦的点云配准方法，实现了工件的精确视觉引导虚拟装配；最后，基于虚拟装配结果，提出了一种基于几何特征边缘聚类和空间网格分布联合分析的机器人焊接轨迹规划新方法，以生成安全有效的机器人程序。通过一系列广泛的实验，所提出的机器人焊接轨迹规划系统有效地克服了现有方法的局限性，实现了建筑行业钢结构工件的精确、高效焊接。

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引用次数: 0

Toward generalizable robotic assembly: A prior-guided deep reinforcement learning approach with multi-sensor information 面向一般化机器人装配：基于多传感器信息的先验引导深度强化学习方法

IF 11.4 1区计算机科学 Q1 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS

Robotics and Computer-integrated Manufacturing

Pub Date : 2026-01-22 DOI: 10.1016/j.rcim.2026.103242

Zilu Zhu , Yongkui Liu , Qianji Wang , Zinan Wang , Lihui Wang , Sichao Liu , Bin Zi , Lin Zhang

The rise of personalized manufacturing presents significant challenges for robotic assembly. While learning-based methods offer promising solutions, they often suffer from low training efficiency and poor generalization. To address these limitations, this paper proposes an efficient prior-guided (PG) deep reinforcement learning (DRL) approach for generalizable robotic assembly using multi-sensor information. First, a phased multi-sensor information fusion method is introduced. Then, a visual feature extraction method that combines MobileNetV3-Lite with conventional digital image processing and a rule-based force feature extraction method are designed to extract lower-dimensional features as prior-guided knowledge. Based on the methods above, a Soft Actor-Critic (SAC) algorithm that integrates Gated Recurrent Unit (GRU) network architecture with PG is proposed, thereby enabling efficient assembly skill learning. Simulations and physical experiments with respect to three typical assembly skills, i.e., search, alignment, and insertion, are conducted. Results indicate that, compared with the baseline SAC algorithm, our feature extraction method reduces visual feature dimensions by 93.75% and provides accurate prior-guided knowledge for DRL. The proposed assembly skill learning algorithm achieves a 30.16% reduction in average training time and a 16.82% decrease in average completion step. Furthermore, all learned skills can be rapidly transferred across different objects, and all assembly tasks are completed efficiently and compliantly with an average success rate of 96.86%.

个性化制造的兴起对机器人装配提出了重大挑战。虽然基于学习的方法提供了很好的解决方案，但它们往往存在训练效率低和泛化能力差的问题。为了解决这些限制，本文提出了一种有效的先验引导（PG）深度强化学习（DRL）方法，用于使用多传感器信息的可泛化机器人装配。首先，介绍了一种分阶段的多传感器信息融合方法。然后，设计了MobileNetV3-Lite与传统数字图像处理相结合的视觉特征提取方法和基于规则的力特征提取方法，作为先验引导知识提取低维特征。在此基础上，提出了一种将门控循环单元（GRU）网络体系结构与PG相结合的软Actor-Critic （SAC）算法，从而实现了高效的装配技能学习。针对三种典型装配技能，即搜索、对准和插入，进行了仿真和物理实验。结果表明，与基线SAC算法相比，我们的特征提取方法将视觉特征维数降低了93.75%，为DRL提供了准确的先验引导知识。提出的装配技能学习算法平均训练时间减少30.16%，平均完成步长减少16.82%。此外，所有学习到的技能都可以在不同的对象之间快速转移，所有装配任务都能高效、合规地完成，平均成功率为96.86%。

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引用次数: 0

A digital-twin framework for assembling of cylindrical parts 用于圆柱形零件装配的数字孪生框架

IF 11.4 1区计算机科学 Q1 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS

Robotics and Computer-integrated Manufacturing

Pub Date : 2026-01-21 DOI: 10.1016/j.rcim.2026.103240

Yimin Song , Chen Li , Binbin Lian , Qi Li , Tao Sun

Digital twin (DT) has been recognized as a promising technology for enhanced planning, monitoring and control of automatic assembly, with the capability of efficiency, adaptability and flexibility. While most of DT-based assembly focus on electronic products, limited attention has been paid to the assembling of heavy and large-size product with tight tolerance. This paper presents a DT model facilitating prediction and real-time adjustment for intelligent assembling of cylindrical parts. Vision guided feature fitting and coordinate frame construction are presented. Herein, assembly targets are defined considering eight sets of pin and hole, and the contacting planes. This approach improves the assembly success rate. To ensure efficient and robust robot assembly, we proposed a prediction model based on the DT system. Unknown errors and uncertainty of physical space are considered by small displacement torsor (SDT) theory and Monte Carlo simulation (MCS). Assembly planning and execution would efficiently adjust guided by the prediction result. A middle point is set in the robot planning that leaves pure translation in the docking phase. Real-time adjustment method is proposed to accurately assemble the cylindrical parts. Simulations and experiments are carried out to verify the effectiveness and feasibility of the proposed DT-based assembling method. The results show that the prediction results are the same as the actual assembly. Our assembly strategy achieves 97.31% success rate. By employing the assembly strategy and real-time adjustment, our method ensures that the majority of axes mismatch is below 0.1mm/0.05 deg, plane non-contacting below 0.05 mm.

数字孪生技术（Digital twin， DT）以其高效、适应性强、灵活的特点，被认为是一种很有前途的自动化装配规划、监测和控制技术。目前，基于3d打印技术的装配大多集中在电子产品上，而对重、大尺寸、公差要求高的产品的装配关注甚少。针对圆柱件智能装配，提出了一种便于预测和实时调整的DT模型。提出了视觉引导特征拟合和坐标框架构建方法。其中，考虑8组销孔和接触面，定义装配目标。这种方法提高了装配成功率。为了保证机器人装配的效率和鲁棒性，提出了一种基于DT系统的预测模型。小位移变形量（SDT）理论和蒙特卡罗模拟（MCS）考虑了物理空间的未知误差和不确定性。在预测结果的指导下，有效地调整装配规划和执行。在机器人规划中设置一个中间点，在对接阶段保留纯平移。提出了圆柱零件精确装配的实时调整方法。仿真和实验验证了该方法的有效性和可行性。结果表明，预测结果与实际装配相吻合。我们的装配策略达到97.31%的成功率。通过采用装配策略和实时调整，保证了大部分轴错配在0.1mm/0.05°以下，平面不接触在0.05 mm以下。

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引用次数: 0

Physics-informed prediction of modal parameters and stability analysis for robotic mirror milling 机器人铣镜模态参数的物理预测与稳定性分析

IF 11.4 1区计算机科学 Q1 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS

Robotics and Computer-integrated Manufacturing

Pub Date : 2026-01-20 DOI: 10.1016/j.rcim.2026.103237

Kun Chen , Haonan Ma , Chenghao Huang , Sheng Xu , Peng Xu , Bing Li

Mirror milling technology is widely used in the aerospace industry for manufacturing thin-walled parts, yet existing machine tool-based mirror milling systems are costly and inflexible. Robotic mirror milling system is a cost-effective and flexible alternative to machine tools. However, the modal parameters of the mirror-arranged robots vary with their postures, and the robots’ low stiffness, coupled with the flexibility of thin-walled parts, leads to unstable milling processes. To address these challenges, a physics-informed framework is proposed for modal parameters measurement, prediction, and optimization, thereby analyzing the robotic mirror milling stability. First, the robot’s vibration characteristics are examined through transfer matrices of dynamic models, while the robot’s modal parameters are collected at uniform configurations in joint space. Using these characteristics and measurements as physical constraints and training sets, a modified multi-task Gaussian process regression is developed to predict the modal parameters, with the results further optimized through the Bayesian derivation. This two-step process forms the physics-informed modal parameters prediction method. Then, the obtained modal parameters are utilized to construct the robotic mirror milling system’s dynamic model, which can analyze its milling stability. Simulations and experiments are conducted to confirm these theories and algorithms.

镜面铣削技术在航空航天工业中广泛应用于制造薄壁零件，但现有的基于机床的镜面铣削系统成本高且不灵活。机器人镜面铣削系统是一种具有成本效益和灵活性的机床替代方案。然而，镜面排列机器人的模态参数随其姿态而变化，并且机器人的低刚度加上薄壁零件的柔韧性导致铣削过程不稳定。为了解决这些挑战，提出了一个物理信息框架，用于模态参数的测量、预测和优化，从而分析机器人镜面铣削稳定性。首先，通过动力学模型的传递矩阵分析了机器人的振动特性，同时在关节空间中采集了机器人的均匀构型模态参数。利用这些特征和测量作为物理约束和训练集，提出了一种改进的多任务高斯过程回归来预测模态参数，并通过贝叶斯推导进一步优化结果。这两步过程形成了基于物理的模态参数预测方法。然后，利用得到的模态参数构建机器人镜面铣削系统的动力学模型，分析其铣削稳定性。通过仿真和实验验证了这些理论和算法。

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引用次数: 0

A negative-pressure-based surface-compliant constant-force grinding end-effector for climbing machining robots 一种基于负压的表面柔性恒力磨削端部执行器

IF 11.4 1区计算机科学 Q1 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS

Robotics and Computer-integrated Manufacturing

Pub Date : 2026-01-17 DOI: 10.1016/j.rcim.2026.103241

Zeyu Gong , Junhui Huang , Ying Shi , Yaonan Wang , Bo Tao

Climbing robots, with their unique adsorption and locomotion mechanisms, overcome the accessibility limitations of traditional robots, offering innovative solutions for manufacturing large and complex components such as aircraft skins and wind turbine blades. This paper proposes a specialized grinding end-effector with surface-conforming and force control capabilities for climbing robots, targeting surface finishing tasks. A surface-adaptive module driven by vacuum suction force is introduced, enabling both 3-degree-of-freedom posture self-adjustment and dust collection for the end-effector using only a single centrifugal fan. Building upon this, a force control module decoupled from posture adaptation is designed. Utilizing voice coil motor (VCM) actuation, it integrates parallel force transmission and feedback mechanisms among the VCM, grinding head, and force sensor, combined with PID force control algorithms, to achieve high-precision grinding force regulation. Experiments conducted on both curved aluminum alloy skins and real aircraft skin workpiece demonstrate that the proposed end-effector achieves high-accuracy adaptive normal-direction tracking and constant grinding force control, with posture errors as low as 1.59° and average force errors of 0.18 N. The grinding process effectively activates workpiece surfaces and significantly improves surface roughness uniformity, proving that the proposed end-effector empowers climbing robots to perform high-quality surface finishing operations on curved structures.

攀爬机器人以其独特的吸附和运动机制，克服了传统机器人的可及性限制，为制造飞机蒙皮和风力涡轮机叶片等大型复杂部件提供了创新的解决方案。本文提出了一种具有表面一致性和力控制能力的爬行机器人专用磨削末端执行器，用于表面精加工任务。介绍了一种由真空吸力驱动的表面自适应模块，只需一个离心风机即可实现末端执行器的3自由度姿态自调节和除尘。在此基础上，设计了与姿态自适应解耦的力控制模块。利用音圈电机（VCM）驱动，集成了VCM、磨头、力传感器之间的并联力传递和反馈机构，结合PID力控制算法，实现磨削力的高精度调节。在曲面铝合金蒙皮和实际飞机蒙皮工件上的实验表明，该末端执行器实现了高精度自适应法向跟踪和恒磨削力控制，姿态误差低至1.59°，平均力误差为0.18 n，磨削过程有效激活了工件表面，显著提高了表面粗糙度均匀性。证明所提出的末端执行器使攀爬机器人能够在弯曲结构上执行高质量的表面加工操作。

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引用次数: 0

Research on a curvature- and time-optimal corner smoothing method for machining paths of a 6-axis hybrid machining robot 六轴混合加工机器人加工路径的曲率和时间最优角点平滑方法研究

IF 11.4 1区计算机科学 Q1 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS

Robotics and Computer-integrated Manufacturing

Pub Date : 2026-01-17 DOI: 10.1016/j.rcim.2026.103239

Yue Ma , Honggui Peng , Haitao Liu , Bin Li , Qi Liu , Long Chen , Dun Peng

Discontinuous corner smoothing in machining paths and excessive rapid traverse paths degrade both the machining quality and efficiency of hybrid robots. Therefore, two algorithms are proposed for dealing with the trajectory planning of a 6-axis hybrid machining robot within a single machining zone and across two machining zones, respectively. The constraints on the curvatures and position errors of smoothing path segments are considered in corner smoothing planning within a single machining zone, while the constraints on the curvatures and obstacle geometries are employed in planning obstacle-avoidance paths across two machining zones. Both of the above optimization problems are solved by adjusting the weights of spline curves through the Quantum-behaved particle swarm optimization (QPSO) algorithm combined with the greedy algorithm. Furthermore, the time allocation is optimized using the QPSO algorithm combined with the moving window planning method to enhance the machining efficiency of toolpaths. The comparative simulation results within a single zone indicate that, under identical position error constraints, the proposed method achieves a maximum curvature reduction of 27.29 % relative to the B-spline method, and reduces computational time by 48.35 % and 53.31 % compared to the PSO algorithm and the genetic algorithm, respectively. The simulation results across two machining zones demonstrate that the proposed method is capable of generating curvature-optimal obstacle-avoidance toolpaths for obstacles with varying geometries. Additionally, the simulation results of butterfly and maple leaf contours show that the proposed method reduces machining time by 52.59 % and 40.92 % compared to the Bezier curve method and the Clothoid spline method, respectively. The experimental results show that the predicted curvatures are in close agreement with the measured ones along the butterfly and maple leaf contours, with a maximum error of 2.99 %. Furthermore, the measured tracking errors of the actuated joints are maintained within ±0.028 mm and ±1.3 × 10⁻⁴ rad for the parallel mechanism and serial wrist, respectively. These results fully demonstrate the effectiveness of the proposed method in enhancing machining efficiency and motion smoothness in the planning of curvature-optimal corner smoothing toolpaths.

加工路径的不连续角点平滑和过快的遍历路径会降低混合动力机器人的加工质量和效率。因此，针对六轴混合加工机器人在单加工区域内和跨加工区域的轨迹规划问题，提出了两种算法。在单个加工区域内进行角点平滑规划时，考虑了对平滑路径段曲率和位置误差的约束；在规划跨两个加工区域的避障路径时，考虑了曲率和障碍物几何形状的约束。采用量子粒子群优化（QPSO）算法结合贪心算法，通过调整样条曲线的权值来解决上述两个优化问题。在此基础上，利用QPSO算法结合运动窗规划方法优化了刀具轨迹的时间分配，提高了刀具轨迹的加工效率。单个区域内的对比仿真结果表明，在相同位置误差约束条件下，该方法相对于b样条法曲率最大减小27.29%，计算时间相对于粒子群算法和遗传算法分别减少48.35%和53.31%。跨两个加工区域的仿真结果表明，该方法能够针对不同几何形状的障碍物生成曲率最优的避障刀具路径。此外，蝴蝶和枫叶轮廓的仿真结果表明，该方法与Bezier曲线法和clocloid样条法相比，加工时间分别缩短了52.59%和40.92%。实验结果表明，所预测的沿蝴蝶和枫叶轮廓的曲率与实测值吻合较好，最大误差为2.99%。此外，并联机构和串联手腕的驱动关节的测量跟踪误差分别保持在±0.028 mm和±1.3 × 10⁻⁴rad。这些结果充分证明了该方法在曲率最优角点平滑刀具轨迹规划中提高加工效率和运动平稳性的有效性。

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