Doctoral Dissertations


Zhiyuan Wang

Keywords and Phrases

Adaptive Path Compensation; Fused Pellet Extruder; Hybrid Manufacturing; Industrial Robot; Large-scale Robotic Deposition; Stereo Vision


"The applications of using industrial robots in hybrid manufacturing overcome many restrictions of the conventional manufacturing methods, such as small part building size, long building period, and limited material choices. However, some problems such as the uneven distribution of motion accuracy within robot working volume, the acceleration impact of robot under heavy external loads, few methods and facilities for increasing the efficiency of hybrid manufacturing process are still challenging. This dissertation aims to improve the applications of using industrial robot in hybrid manufacturing by addressing following three categories research issues. The first research issue proposed a novel concept view on robot accuracy and stiffness problem, for making the maximum usage of current manufacturing capability of robot system. Based on analyzing the robot forward/inverse kinematic, the angle error sensitivity of different joint and the stiffness matrix properties of robot, new evaluation formulations are established to help finding the best position and orientation to perform a specific trajectory within the robot's working volume. The second research issue focus on the engineering improvements of robotic hybrid manufacturing. By adopting stereo vision, laser scanning technology and curved surface compensation algorithm, it enhances the automation level and adaptiveness of hybrid manufacturing process. The third research issue extends the robotic hybrid manufacturing process to the broader application area. A mini extruder with a variable pitch and progressive diameter screw is developed for large scale robotic deposition. The proposed robotic deposition system could increase the building efficiency and quality for large-size parts. Moreover, the research results of this dissertation can benefit a wide range of industries, such as automation manufacturing, robot design and 3D printing"--Abstract, page iv.


Liou, Frank W.

Committee Member(s)

Midha, A. (Ashok)
Pan, Heng
Duan, Lian, 1983-
Newkirk, Joseph William


Mechanical and Aerospace Engineering

Degree Name

Ph. D. in Mechanical Engineering


National Science Foundation (U.S.)
United States. Army Research Office
Laser Aided Manufacturing Processes (LAMP) Laboratory
Missouri University of Science and Technology. Intelligent Systems Center


This research was supported by the National Science Foundation Grant Numbers IIP-0637796, IIP-0822739, and IIP-1345240, and the grant from the U.S. Air Force Research Laboratory contract # FA8650-04-C-5704

Research Center/Lab(s)

Intelligent Systems Center


Missouri University of Science and Technology

Publication Date

Fall 2016

Journal article titles appearing in thesis/dissertation

  • Industrial robot trajectory accuracy evaluation maps for hybrid manufacturing process based on joint angle error analysis
  • Industrial robot trajectory stiffness mapping for hybrid manufacturing
  • Realization of robot ink deposition on a curved surface
  • Stereo vision based hybrid manufacturing process for precision metal parts
  • Large-scale deposition system by an industrial robot (I) {13} Design of fused pellet modeling (FPM) system and extrusion process analysis


xiv, 163 pages

Note about bibliography

Includes bibliographic references.


© 2016 Zhiyuan Wang, All rights reserved.

Document Type

Dissertation - Open Access

File Type




Subject Headings

Manufacturing processes -- Research
Robots, Industrial -- Research
Intelligent control systems
Pulsed laser deposition

Thesis Number

T 11059

Electronic OCLC #