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A macro–micro hybrid robotic system for vibration-robust screw locking in vehicle intelligent assembly.

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Title: A macro–micro hybrid robotic system for vibration-robust screw locking in vehicle intelligent assembly.
Authors: Liang, Chen-Bo1 (AUTHOR), Gao, Da-Long2 (AUTHOR), Zheng, Hao1 (AUTHOR), Chen, Fang-Fei-Yang1 (AUTHOR), Gong, Liang1 (AUTHOR), Gao, Feng1 (AUTHOR) gaofengsjtu@gmail.com
Source: International Journal of Advanced Manufacturing Technology. Sep2026, Vol. 146 Issue 1/2, p837-855. 19p.
Subjects: Parallel robots, Robotic assembly, Collision detection (Computer animation), Micrurgy, Industrial robots, Automobile manufacturing, Autonomous robots
Abstract: This paper aims to address the challenges in vehicle intelligent assembly, including low automation, high retrofitting costs, inefficient operations, and precision degradation caused by production line vibrations. To solve these problems, this paper proposes a macro–micro hybrid platform and corresponding control strategies, which are elaborated as follows from two aspects: structure design and control strategies. On one hand, a macro–micro hybrid platform integrating serial and parallel robots is proposed. The serial robotic arm realizes large-range macro-positioning to solve the problem of limited movement range in precision operations; a 6-PUS parallel mechanism provides high-precision micro-motion and force compensation, which effectively counteracts production line vibrations and solves the problem of precision degradation. On the other hand, four key strategies are adopted to improve assembly automation. Firstly, task allocation based on short-time wavelet transform is used to solve the problem of task division for macro-positioning and micro-motion; secondly, fuzzy inference rules are applied for phase recognition of screw fastening, so as to identify the tightening state of screws in the screw locking process; thirdly, collision detection based on screw theory is adopted to ensure operation safety; finally, an improved admittance control with dynamic parameter adjustment across phases is designed to actively comply with varying contact forces. Experimental validation shows that the system achieves high-precision and successful screw locking. The results verify the effectiveness of the proposed hybrid platform and control methodologies in improving automation, precision and efficiency of vehicle assembly, and provide a reference for precision operations in discrete manufacturing. [ABSTRACT FROM AUTHOR]
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Database: Engineering Source
Description
Abstract:This paper aims to address the challenges in vehicle intelligent assembly, including low automation, high retrofitting costs, inefficient operations, and precision degradation caused by production line vibrations. To solve these problems, this paper proposes a macro–micro hybrid platform and corresponding control strategies, which are elaborated as follows from two aspects: structure design and control strategies. On one hand, a macro–micro hybrid platform integrating serial and parallel robots is proposed. The serial robotic arm realizes large-range macro-positioning to solve the problem of limited movement range in precision operations; a 6-PUS parallel mechanism provides high-precision micro-motion and force compensation, which effectively counteracts production line vibrations and solves the problem of precision degradation. On the other hand, four key strategies are adopted to improve assembly automation. Firstly, task allocation based on short-time wavelet transform is used to solve the problem of task division for macro-positioning and micro-motion; secondly, fuzzy inference rules are applied for phase recognition of screw fastening, so as to identify the tightening state of screws in the screw locking process; thirdly, collision detection based on screw theory is adopted to ensure operation safety; finally, an improved admittance control with dynamic parameter adjustment across phases is designed to actively comply with varying contact forces. Experimental validation shows that the system achieves high-precision and successful screw locking. The results verify the effectiveness of the proposed hybrid platform and control methodologies in improving automation, precision and efficiency of vehicle assembly, and provide a reference for precision operations in discrete manufacturing. [ABSTRACT FROM AUTHOR]
ISSN:02683768
DOI:10.1007/s00170-026-18778-z