Dynamics Modeling and Stiffness Strengthening of Mobile Industrial Robots

Strategic Insights -

Researchers at Nanjing University of Aeronautics and Astronautics have developed a new dynamics modeling method for mobile industrial robots (MIRs), specifically designed for in-situ milling machining. This method employs the multibody systems transfer matrix method to derive overall transfer equations and dynamics response equations for the system. The research aims to enhance the system's stiffness during milling by analyzing the influence of joint stiffness, joint angle, and link flexibility on the dynamic characteristics of the MIR.

Key Takeaways:

  • The new dynamics modeling method for MIRs is proposed to analyze the dynamic characteristics and stiffness of the system, considering the flexibility of joints and links.
  • The method uses the multibody systems transfer matrix method, which is characterized by high programmability, low system matrix order, and strong versatility.
  • The research analyzes the influence of joint stiffness, joint angle, and link flexibility on the dynamic characteristics of the MIR, developing an evaluation index to enhance the system's stiffness during milling.
  • The stiffness enhancement model is verified after performing various milling experiments, demonstrating the feasibility and effectiveness of the proposed method.
  • The research team consisted of Yunfei Miao, Zhuoheng Yang, Wei Tian, Pinzhang Wang, Bo Li, and Wei Liu, with financial support from the National Natural Science Foundation of China (NSFC).
  • The research was peer-reviewed and published in the Robotics and Computer-Integrated Manufacturing journal.

Statistics:

  • 95: The issue number of the Robotics and Computer-Integrated Manufacturing journal where the research was published.
  • 2025: The year when the research was published.
  • 734: The page number where the research was published in the Journal of Engineering.
  • 6: The number of authors involved in the research, including Yunfei Miao, Zhuoheng Yang, Wei Tian, Pinzhang Wang, Bo Li, and Wei Liu.
  • 10: The number of keywords listed for this news article, including Nanjing, People's Republic of China, Asia, Emerging Technologies, Machine Learning, Robot, Robotics, and Nanjing University of Aeronautics and Astronautics.

Sources:

  • Study On Dynamics Modelling and Stiffness Strengthening Method for Mobile Industrial Robot In-situ Milling Machining. Robotics and Computer-integrated Manufacturing, 2025; 95.
  • NewsRx. Findings from Nanjing University of Aeronautics and Astronautics Broaden Understanding of Robotics (Study On Dynamics Modelling and Stiffness Strengthening Method for Mobile Industrial Robot In-situ Milling Machining). Journal of Engineering. October 13, 2025; p 734.