A New Method for Displacement Modelling of Serial Robots Using Finite Screw

Round 1

Reviewer 1 Report

Comments and Suggestions for Authors

The paper is interesting and presents a new method for displacement modeling of industrial robots using finite screw as mathematical tool.

The only problem I have is that the paper has only a theoretical character, including a simulation part, but does not include any experimental research. 

Author Response

The authors sincerely appreciate the reviewer’s comments. The responses to these comments are written as follows. Following the comments, we make thorough revisions. The revisions are highlighted in yellow in the revised manuscript.

Comment 1: The only problem I have is that the paper has only a theoretical character, including a simulation part, but does not include any experimental research.

Response 1: Thanks a lot for the comment. This paper is focused on theoretical analysis which proposes a new method for displacement modeling of robotic mechanisms. The obtained results are verified by Matlab simulation. However, due to equipment limitation, we are unable to conduct experimental research now. The theoretical framework we develop serves as a foundation for future experimental investigations. In the future, we plan to conduct experimental research to validate and further refine our theoretical findings. We will strive to obtain the necessary resources and collaborate with relevant institutions or researchers to carry out experimental studies. We hope that our explanations address your concern. Thank you again for your review and suggestions.

Reviewer 2 Report

Comments and Suggestions for Authors

The paper presented a new method for displacement modeling of SR. Following are the comments

1. contribution of the paper needs to be further explicitly explained.

2. example problems are well described, but English needs to be improved in Introduction and abstract 

Author Response

The authors sincerely appreciate the reviewer’s comments. The responses to these comments are written as follows. Following the comments, we make thorough revisions. The revisions are highlighted in yellow in the revised manuscript.

Comment 1: Contribution of the paper needs to be further explicitly explained.

Response 1: Thanks a lot for the comment. We have revised the paper to further explicitly explain the contributions of the paper. The revisions are made in Section 1 and Section 6.

Comment 2: Example problems are well described, but English needs to be improved in Introduction and abstract.

Response 2: Thanks a lot for the comment. We have checked the whole paper, and carefully polished and improved the English writing. The grammar, spelling, and sentence structure are all checked and revised.

Reviewer 3 Report

Comments and Suggestions for Authors

The paper entitled "A new method for displacement modelling of serial robots using finite screw" investigates the in-situ mix of Stainless Steel and carbon black suspension. The topic is of interest, but some small comments:

·        The addition of the graphical abstract is of excellent quality

·        The abstract mentions several concepts without clearly emphasising the novelty or main contribution of the work. It is important to highlight why the proposed approach is significant and how it differs from previous work.

·        From line 59-64, the authors mention a lot of references, but for one thing they do not do it correctly in format and with little detail about the contribution of each paper.

·        Please add some references to applications of robot in industrial applications:

o   https://doi.org/10.3390/sym15091776

o   https://doi.org/10.1016/j.procir.2016.10.052

·        Some concepts are introduced without sufficient context. Although references are mentioned, readers could benefit from a brief explanation or definition of terms such as ‘Chasles axis’ or ‘screw triangle product’ before going into the mathematical details.

·        Please addressed limitations of the study

·        Please on the future lines Can you be more concise with future lines beyond a discussion of interest

Author Response

The authors sincerely appreciate the reviewer’s comments. The responses to these comments are written as follows. Following the comments, we make thorough revisions. The revisions are highlighted in yellow in the revised manuscript.

Comment 1: The abstract mentions several concepts without clearly emphasizing the novelty or main contribution of the work. It is important to highlight why the proposed approach is significant and how it differs from previous work.

Response 1: Thanks a lot for the comment. We have added some sentences in the abstract to clearly emphasize the main contribution of the work and to highlight why the proposed approach is significant and how it differs from previous work.

Comment 2: From line 59-64, the authors mention a lot of references, but for one thing they do not do it correctly in format and with little detail about the contribution of each paper.

Response 2: Thanks a lot for the comment. We have corrected the citation format and adjusted the references in line 59-64.

Comment 3: Please add some references to applications of robot in industrial applications

Response 3: Thanks a lot for the comment. We have added some references to applications of robot in industrial applications.

Comment 4: Some concepts are introduced without sufficient context. Although references are mentioned, readers could benefit from a brief explanation or definition of terms such as ‘Chasles axis’ or ‘screw triangle product’ before going into the mathematical details.

Response 4: Thanks a lot for the comment. We have added the definition and explanation of ‘Chasles axis’ and ‘screw triangle product’ in Section 2.

In Chasles’ theorem, a rigid body displacement from one configuration to another configuration can always be regarded as the rigid body’s rotating around an axis together with translating along the axis. The axis is called Chasles’s axis.

Screw triangle product is the composition algorithm of finite screws. The composition of two finite screws results in the linear addition of these two screws, the screw along their common perpendicular, and their translational parts.

Comment 5: Please addressed limitations of the study

Response 5: Thanks a lot for the comment. We have addressed limitations of the study in Section 6.

1. The inverse kinematics of SRs with more than two rotations are still under investigations.
2. Our study mainly focuses on theoretical analysis and simulation. Though we have demonstrated the effectiveness of our method in these aspects, further experimental validation is needed to fully assess its performance in practical applications.

Round 2

Reviewer 1 Report

Comments and Suggestions for Authors

As I stated in the first round of review, the only problem of the paper is the lack of an experimental part.

I think the decision to accept for publication such a paper should be made by the editors of the journal, not by the reviewer.