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IEEE International Conference on Robotics and Automation (ICRA)

作者： Kevin Haninger Abner Asignacion Sehoon Oh Division of Automation Technology Fraunhofer Institute for Production Systems and Design Technology (IPK) Berlin Germany Department of Robotic Engineering Daegu Gyeongbuk Institute of Science and Technology Daegu Korea

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

In many series-elastic actuator applications, the ability to safely render a wide range of impedance is important. Advanced torque control techniques such as the disturbance observer (DOB) can improve torque tracking performance, but their impact on safe impedance range is not established. Here, safety is defined with load port passivity, and passivity conditions are developed for two variants of DOB torque control. These conditions are used to determine the maximum safe stiffness and Z-region of the DOB controllers, which are analyzed and compared with the no DOB case. A feedforward controller is proposed which increases the maximum safe stiffness of the DOB approaches. The results are experimentally validated by manual excitation and in a high-stiffness environment.

关键词： Impedance Torque Torque control Springs Stability analysis Safety Measurement

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production in the loop-the interoperability of digital twins of the product and the production system 14

Production in the loop-the interoperability of digital twins...

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14th CIRP Conference on Intelligent Computation in Manufacturing Engineering, CIRP ICME 2020

作者： Vogt, Anna Schmidt, Philipp Heiner Mayer, Sebastian Stark, Rainer Audi AG Auto-Union-Str. 1 Ingolstadt85045 Germany Technical University of Berlin Department of Industrial Information Technology Pascalstraße 8-9 Berlin10587 Germany Volkswagen AG Berliner Ring 2 Wolfsburg38436 Germany Technical University of Kaiserslautern Institute for Virtual Product Engineering Gottlieb-Daimler-Straße 44 Kaiserslautern67663 Germany Technische Hochschule Ingolstadt Institute for Innovative Mobility Esplanade 10 Ingolstadt85049 Germany Fraunhofer Institute for Production Systems and Design Technology IPK Pascalstraße 8-9 Berlin10587 Germany

The Internet of Things (IoT) era facilitates new possibilities at the interface between the lifecycle of the product and the manufacturing disciplines allowing to add value and meet growing legal requirements. This work presents use cases from the automobile industry which are analyzed in order to derive requirements for data exchange. The analysis of the use cases shows clearly that we need to focus on the instance level for this purpose. This means that both, a specific unit of the product and the production system, must be considered. As a solution approach, a communication loop is proposed bringing the Digital Twin concept in a new field of usage. The key aspect of the proposed solution is the direct intercommunication between the Digital Twins of the product being produced as a Cyber-Physical System (CPS) and the production resources as Cyber-Physical production systems (CPPS). This solution enables the aggregation of production-related data within the products Digital Twin and therefore promotes maximal transparency throughout engineering disciplines, phases of the product lifecycle and the whole supply chain. © 2021 The Authors. Published by Elsevier B.V.

关键词： Cyber Physical System

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Knowledge transfer and engineering methods for smart-circular product service systems

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Procedia CIRP 2021年 100卷 379-384页

作者： Friedrich Halstenberg Jasmin Dönmez Mark Mennenga Christoph Herrmann Rainer Stark Fraunhofer Institute for Production Systems and Design Technolog Pascalstr. 8-910587 Berlin Germany Institute of Machine Tools and Production Technology Chair of Sustainable Manufacturing and Life Cycle Engineering Technische Universität Braunschweig Langer Kamp 19 b 38106 Braunschweig Germany

Smart Product Service systems (Smart PSS) have the potential to contribute to a Circular Economy (CE), but in the design of these systems engineering teams often lack information and knowledge on CE strategies and processes. Against this background, the authors propose a knowledge transfer system for the design of Smart-circular PSS. The system can be used in the concept phase of the Smart PSS development process and delivers information on CE strategies via a Smart-circular PSS Lifecycle Flowchart (SCPLF) and service archetypes. These strategies can be selected, supplemented and extended according to individual user requirements. The approach was validated using an intelligent street lighting system. This paper summarizes findings from the application and provides insights into potentials and limitations for the design of Smart-circular Smart PSS.

关键词： Smart PSS, Smart-circular PSS Model-based systems Engineering (MBSE) Sustainability

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Evaluation Model for Mobility design of Learning Factories 30

Evaluation Model for Mobility Design of Learning Factories

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30th CIRP design on design, CIRP design 2020

作者： Petrusch, Natalie Schliephack, Wolf Kohl, Holger Fraunhofer Institute for Production Systems and Design Technology Pascalstraße 8-9 Berlin10587 Germany Technische Universität Berlin Pascalstraße 8-9 Berlin10587 Germany

Shortening product life cycles and increasing, global competition lead to the necessity for companies to become flexible and able to change. The successful conduction of change projects depends to a large extent on the understanding and cooperation of the operating people. The acquisition of knowledge and thus of competence at all levels is of fundamental importance for this. Learning Factories are one of the most sustainable concepts in this respect. Concerning the industrial application, however, Learning Factories require high investment costs and are relatively inflexible in respect to their dedicated facilities and their learning content. This reveals a connection between the success of a Learning Factory in an industrial context and its mobility. In order to be able to evaluate approaches towards the mobility design of Learning Factories more precisely, the decisive drivers for mobility are identified. The assessment of these drivers with regard to the extent of influence on mobility, but also the critical consideration of possible limits, lead to an evaluation model for the mobility design of Learning Factories. Subsequently, this model is tested by applying it to a successfully operating Learning Factory. © 2017 The Authors. Published by Elsevier B.V.

关键词： Life cycle

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Implementing human-robot collaboration in highly dynamic environments: Assessment, planning and development

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AIP Conference Proceedings 2024年第1期2989卷

作者： A. Bastidas-Cruz T. Jaya G. Thiele J. Krüger Process Automation and Robotics Fraunhofer Institute for Production Systems and Design Technology IPK Pascalstr. 8-9 10587 Berlin Germany Head of Industrial Automation Technology Department Institute of Machine Tools and Factory Management Technische Universität Berlin Pascalstr. 8-9 10587 Berlin Germany

Human-robot collaboration (HRC) applications have been slowly making their path in the industry. Although the required hardware and the methods for the planning and development of collaborative robotic applications are mostly already developed, some industrial branches still struggle to implement HRC. This is the case in motorcycle production, where, unlike car production, the assembly line has been optimized for manual *** on the use case described above, this paper identifies new requirements of HRC for automated screwing assembly operations in flexible production environments. In order to compensate deviations in the position of the tool relative to the workpiece, a screwing strategy based on force control is proposed. Parameter sensitivity is considered and supported experimentally with a screwing task performed by a cobot, where a method for contact detection between the nutrunner and the screw head is analyzed. This paper brings a guideline for experts from the manufacturing system engineering to implement HRC in highly dynamic assembly environments.

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Fundamental research of applying tungsten carbide-cobalt as tool electrode material for sinking EDM

Fundamental research of applying tungsten carbide-cobalt as ...

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20th CIRP Conference on Electro Physical and Chemical Machining, ISEM 2020

作者： Uhlmann, Eckart Polte, Mitchel Bolz, Robert Börnstein, Julian Fraunhofer Institute for Production Systems and Design Technology Pascalstrasse 8-9 Berlin10587 Germany Technische Universität Berlin Chair of Machine Tools and Manufacturing Technology Pascalstrasse 8-9 Berlin10587 Germany

The manufacturing process milling is limited in machining specific geometries like inner contours with sharp edges, high aspect ratios or defined radii. Sinking EDM (S-EDM) is an appropriate process to machine complex features if the negative geometry is machinable. The tool electrode wear is a critical factor, because it affects machining accuracy and process efficiency. The tool electrode wear depends on S-EDM processing parameters, the geometry and material of the tool electrode. The material tungsten carbide-cobalt owns suitable thermophysical properties for the application as tool electrode material in EDM. Most applications of tungsten carbide-cobalt in EDM are limited to EDM drilling processes, where tungsten carbide tube electrodes are widely used. The advancements in milling of hard materials enable an economic manufacturing of tungsten carbide-cobalt form electrodes for sinking EDM applications. However, it is not investigated which composition of the material tungsten carbide-cobalt is the most appropriate for the application as tool electrode material in S-EDM. Additionally, there are no suitable EDM process parameters in order to benefit from the material characteristics of the respective tungsten carbide-cobalt. Focus of this work is the analysis of different tungsten carbide grades regarding the average grain size and the cobalt content in order to identify correlations between the material characteristics and the EDM process results. Therefore, eight different tungsten carbide grades with four different grain sizes and five different cobalt contents were applied in S-EDM experimental analysis. The experimental studies showed a general suitability of tungsten carbide-cobalt tool electrodes for EDM-processing, where the material removal rate is comparable to commonly used tool electrode materials. Nevertheless, the relative tool wear shows inferior results. It could be observed that higher cobalt content and coarser grain size of the applied tungsten c

关键词： Tungsten carbide

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Concept and Architecture for Information Exchange between Digital Twins of the Product (CPS) and the production System (CPPS)

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Procedia CIRP 2021年 104卷 1292-1297页

作者： Anna Vogt Ralph Klaus Müller Thomas Kampa Rainer Stark Daniel Großmann Technical University of Berlin Chair Industrial Information Technology Pascalstraße 8-9 10587 Berlin Germany Audi AG Auto-Union-Str. 1 85045 Ingolstadt Germany Technische Hochschule Ingolstadt Esplanade 10 85049 Ingolstadt Germany Fraunhofer Institute for Production Systems and Design Technology IPK Pascalstraße 8-9 10587 Berlin Germany

The Digital Twin concept and CPS- and IIoT-based approaches are increasingly important topics concerning future Industry 4.0 architectures. They offer high potential for dynamical aspects in intelligent production planning and control as well as part traceability and documentation. Standardized information exchange is an upcoming requirement among the whole supply chain. This paper presents a concept for a Digital Twin architecture based on motor production in the automotive industry. The key aspect is an information exchange structure for Digital Twins of products and production systems that are combined using principles of Dynamic Aggregation.

关键词： Digital Twin Cyber Physical System production System Information Model Information Exchange Intelligent production systems Smart production

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Application of additive manufactured tungsten carbide-cobalt electrodes with interior flushing channels in S-EDM

Application of additive manufactured tungsten carbide-cobalt...

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20th CIRP Conference on Electro Physical and Chemical Machining, ISEM 2020

作者： Uhlmann, Eckart Polte, Julian Bolz, Robert Yabroudi, Sami Streckenbach, Jan Bergmann, André Fraunhofer Institute for Production Systems and Design Technology Pascalstrasse 8-9 Berlin10587 Germany Technische Universität Berlin Chair of Machine Tools and Manufacturing Technology Pascalstrasse 8-9 Berlin10587 Germany

Application fields of electrical discharge machining (EDM) are limited due to given process conditions. Manufacturing of parts with high aspect ratios and the application of multi-axis machining are limited due to process instabilities caused by removed particles. A promising approach to improve EDM process conditions, especially in sinking EDM (S-EDM), is the utilization of flushing channels in the tool electrode. However, with increasing complexity of the tool electrode geometry and the local integration of these flushing channels, conventional tool electrode manufacturing by cutting is limited. In contrast to that, the machining process selective laser melting (SLM) does not have such limitations. The appropriate integration of flushing channels, even for complex electrode geometries, improves process conditions during EDM in a variety of applications. This leads to a higher material removal rate and reduced tool wear compared to machining without flushing. Additionally, the number of required tool electrodes can be reduced, as SLM enables an efficient integration and miniaturization of all features in a single electrode. Because of its wear resistance and stability, tungsten carbide is an ideal tool electrode material, which is commonly applied in drilling EDM. After identifying suitable process parameters for roughing EDM with additively manufactured tungsten carbide cobalt tool electrodes, different forms of flushing channels were analysed in order to establish a fast process with minimum tool electrode wear. The results concerning material removal rate and the relative tool wear could be improved by applying internal flushing, though the tool wear stayed at a worse level compared to conventional tool electrode materials. © 2020 The Authors. Published by Elsevier B.V.

关键词： Tungsten carbide

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Advances in Modeling of the Kerf Formation considering the Primary and Deflection Jets for the Abrasive Water Jet technology

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Procedia CIRP 2021年 102卷 156-161页

作者： Eckart Uhlmann Harald Kruggel-Emden Constantin Männel Enrico Barth Darius Markauskas Technische Universität Berlin Institute for Machine Tools and Factory Management (IWF) Pascalstr. 8-9 10587 Berlin Germany Fraunhofer Institute for Production Systems and Design Technology (IPK) Pascalstr. 8-9 10587 Berlin Germany Technische Universität Berlin Mechanical Process Engineering and Solids Processing Ernst-Reuter-Platz 1 10587 Berlin

Processing of difficult to machine materials is a promising application for abrasive water jet kerf cutting and milling. However, due to the large number of interactions of an energy-bound cutting process, a precise prediction of the material removal is crucial for its application. Based on an analytical approach, a material removal simulation model is introduced considering the primary and deflecting jet impacts to rapidly predict various cutting situations. The model describes fundamental cutting mechanisms considering the water jet’s material removal rate and is calibrated for titanium aluminides. The model allows for a comprehensive kerf prediction and thus potentially accelerates the process design improving the productivity and quality for abrasive water jet kerf cutting and milling.

关键词： Waterjet machining Titanium aluminides AWJ milling Modeling AWJ deflection

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Improvement of Charpy impact toughness by using an AC magnet backing system for laser hybrid welding of thick S690QL steels

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Procedia CIRP 2022年 111卷 462-465页

作者： Ömer Üstündag Nasim Bakir Andrey Gumenyuk Michael Rethmeier Bundesanstalt für Materialforschung und -prüfung (BAM) Unter den Eichen 87 12205 Berlin Germany Fraunhofer Institute for Production Systems and Design Technology Pascalstraße 8-9 10587 Berlin Germany Institute of Machine Tools and Factory Management Technische Universität Berlin Pascalstraße 8-9 10587 Berlin Germany

The study deals with the influence of the heat input and the resulting cooling times on the microstructure and Charpy impact toughness of single-pass laser hybrid welded 20-mm thick high-strength steel S690QL. The main focus is on the change of the mechanical properties over the entire seam thickness. The cooling times were measured in-situ using a pyrometer and an optical fibre in three different depths of the seam where Charpy impact test specimens were also later taken. Thereby, three different heat inputs from 1.3 kJ/mm to 2 kJ/mm were investigated. Despite the observed decreased values of both t 8/5 -cooling time and the Charpy impact toughness in the root part of the seam, the required impact toughness of 38 J/cm 2 could be reached in dependance on applied heat input, especially at the heat input of 1.6 kJ/mm.

关键词： laser hybrid welding AC magnet backing Charpy impact toughness high-strength steel S690QL

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