Research on human-robot collaboration method for parallel robots oriented to segment docking

Research on human-robot collaboration method for parallel robots oriented to segment docking | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Article Research on human-robot collaboration method for parallel robots oriented to segment docking Deyuan Sun, Junyi Wang, Zhigang Xu, Jianwen Bao, Han Lu This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-3830959/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract In the field of aerospace, large and heavy cabin segments present a significant challenge in assembling space engines. The considerable inertial force of cabin segments’ mass causes unexpected motion during docking, leading to segment collisions and difficulty in ensuring precise engine segment docking. Traditional manual docking utilizes workers' expertise, yet the labor-intensive nature and low productivity are unsuitable for practical applications. Human-robot collaboration can effectively integrate the advantages of humans and robots. Additionally, parallel robots, known for their precision and load-bearing ability, are widely employed in precise assembly tasks under heavy loads. Thus, human-parallel-robot collaboration serves as an excellent solution for these challenges. This paper proposes an easily implementable framework, employing human-parallel-robot collaboration technology for cabin segment docking in production. A fractional-order variable damping admittance control and an inverse dynamics robust controller are suggested to improve the robot's compliance, responsiveness, and trajectory tracking accuracy in collaboration. This allows operators to dynamically adjust the robot's motion in real-time, counterbalancing inertial forces and preventing collisions. Segment docking assembly experiments are conducted utilizing the Stewart platform in this study. The results show that the proposed method enables the robot to quickly respond to interaction forces, ensuring compliance and stable motion accuracy, even under unknown interaction forces. Physical sciences/Engineering/Aerospace engineering Physical sciences/Engineering/Mechanical engineering Parallel Robot Admittance Control Fractional-order Control Robust Control Human-Robot Collaboration Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-3830959","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Article","associatedPublications":[],"authors":[{"id":265309789,"identity":"c13a0c77-76fd-4e89-b269-91c5f1f8b5d7","order_by":0,"name":"Deyuan Sun","email":"","orcid":"","institution":"Shenyang Institute of Automation","correspondingAuthor":false,"prefix":"","firstName":"Deyuan","middleName":"","lastName":"Sun","suffix":""},{"id":265309790,"identity":"65b21931-f12c-4672-b3ed-22474558f310","order_by":1,"name":"Junyi Wang","email":"","orcid":"","institution":"Chinese Academy of Sciences","correspondingAuthor":false,"prefix":"","firstName":"Junyi","middleName":"","lastName":"Wang","suffix":""},{"id":265309791,"identity":"2acac69f-57a4-406f-8050-f30428001d20","order_by":2,"name":"Zhigang Xu","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAAlElEQVRIiWNgGAWjYLCCDwwSJOpgnEGyFmYekpTL968xk7b5YyHPwH72ALGOepYmndsmYdjAk5dApKMkDh+Tzm2QYGyQ4DEgTgubxME2aYs/EvbEa+Hhbz4mDdSYSLwWCQm2ZMveNonkNp4cIrXI958xvPHjT51tP/sZIrUwSCRAaDYi1QMB/wHi1Y6CUTAKRsEIBQCSLiEWbM/9VgAAAABJRU5ErkJggg==","orcid":"","institution":"Chinese Academy of Sciences","correspondingAuthor":true,"prefix":"","firstName":"Zhigang","middleName":"","lastName":"Xu","suffix":""},{"id":265309792,"identity":"48d7178e-08d8-41c0-963c-3130e15eab7d","order_by":3,"name":"Jianwen Bao","email":"","orcid":"","institution":"Shenyang Institute of Automation","correspondingAuthor":false,"prefix":"","firstName":"Jianwen","middleName":"","lastName":"Bao","suffix":""},{"id":265309793,"identity":"0f530fd2-8b70-4655-b7a1-22f128c32468","order_by":4,"name":"Han Lu","email":"","orcid":"","institution":"University of Chinese Academy of Sciences","correspondingAuthor":false,"prefix":"","firstName":"Han","middleName":"","lastName":"Lu","suffix":""}],"badges":[],"createdAt":"2024-01-03 04:14:14","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-3830959/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-3830959/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":52536233,"identity":"b7d10afb-9ca9-4d4e-90d7-545133c646f1","added_by":"auto","created_at":"2024-03-12 16:33:45","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":1045475,"visible":true,"origin":"","legend":"","description":"","filename":"Researchonhumanrobotcollaborationmethodforparallelrobotsorientedtosegmentdocking.pdf","url":"https://assets-eu.researchsquare.com/files/rs-3830959/v1_covered_1c30b252-7423-4fac-8bb8-82458da64dd7.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"Research on human-robot collaboration method for parallel robots oriented to segment docking","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":true,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true},"keywords":"Parallel Robot, Admittance Control, Fractional-order Control, Robust Control, Human-Robot Collaboration","lastPublishedDoi":"10.21203/rs.3.rs-3830959/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-3830959/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"\u003cp\u003eIn the field of aerospace, large and heavy cabin segments present a significant challenge in assembling space engines. The considerable inertial force of cabin segments\u0026rsquo; mass causes unexpected motion during docking, leading to segment collisions and difficulty in ensuring precise engine segment docking. Traditional manual docking utilizes workers' expertise, yet the labor-intensive nature and low productivity are unsuitable for practical applications. Human-robot collaboration can effectively integrate the advantages of humans and robots. Additionally, parallel robots, known for their precision and load-bearing ability, are widely employed in precise assembly tasks under heavy loads. Thus, human-parallel-robot collaboration serves as an excellent solution for these challenges. This paper proposes an easily implementable framework, employing human-parallel-robot collaboration technology for cabin segment docking in production. 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