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18th IFAC Workshop on Time Delay Systems, TDS 2024

作者： Gu, Yunqi Otto, Ruth Maria Naumann, Martin Gjakova, Leutrim Löser, Rico Dix, Martin University of Applied Sciences Munich Lothstr. 34 Munich80335 Germany Fraunhofer Institute for Machine Tools and Forming Technology IWU Chemnitz09126 Germany Chemnitz University of Technology Chemnitz09111 Germany

Robotic assembly processes are integral to industrial manufacturing, traditionally relying on pre-programmed sequences that exhibit limited adaptability to uncertain conditions. Recent advancements propose AI-enhanced vision systems as viable solutions to mitigate uncertainty in automated tasks. Despite the potential of vision, contact-intensive, high-precision assembly processes need customized force-torque feedback strategies to perform the task. Parametrization for setup and adaption of force-torque processes are time consuming, but decisive for quality. This work outlines an AI-driven force-torque control strategic solution for peg-in-hole assembly task, which employs object detection algorithm to grasp the workpiece and determine flexible assembly position, with force-torque-informed DNN algorithm for error correction in terms of position, and digital twin to monitor the process and collect virtual data. © 2024 The Authors.

关键词： Robotic assembly

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Overview of methodologies for the lifecycle management of smart product-service systems

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Procedia CIRP 2024年 128卷 174-179页

作者： Anton Mauersberger Heiner Reinhardt Mohaned Alaluss Mahtab Mahdaviasl Steffen Ihlenfeldt Fraunhofer Institute for Machine Tools and Forming Technology IWU Reichenhainer Straße 88 09126 Chemnitz Germany

Nowadays, companies are operating in increasingly competitive and dynamic markets with rapidly changing customer demands. In order to meet these challenges, digitalization can be leveraged to achieve a transformation in product and service development. As a result, new concepts and methods are emerging, including smart product-service systems (smart PSSs). In combination with smart, connected products (SCPs), added value can be generated for several contracting parties. There are various methodologies available for the development and usage of smart services. However, these are insufficiently applied in practice. Here, an overview of methodologies supporting the various phases of the lifecycle of smart PSSs is presented. In doing so, a classification of these approaches is derived and discussed, while the need for further methodological research is outlined.

关键词： Smart PSS Smart service Smart technologies Product-service system Innovation management Sustainable development Lifecycle Decision making Methodology Digital manufacturing system

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Design and Characterization of Piezoceramic Thick Film Sensor for Measuring Cutting Forces in Turning Processes 18th

Design and Characterization of Piezoceramic Thick Film Senso...

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18th Global Conference on Sustainable Manufacturing, GCSM 2022

作者： Panesso, M. Ettrichrätz, M. Gebhardt, S. Georgi, O. Rüger, C. Gnauck, M. Drossel, W.-G. Fraunhofer IWU Fraunhofer Institute for Machine Tools and Forming Technology Nöthnitzer Str. 44 Dresden01187 Germany Fraunhofer IKTS Fraunhofer Institute for Ceramic Technologies and Systems Winterbergstr. 28 Dresden01277 Germany

ISBN: (纸本)9783031288388

Cutting forces in turning processes usually correlate with tool conditions. For this reason, the acquisition of force signals is of key importance for monitoring purposes. Despite the robustness of current piezoelectric measuring platforms, their large weight ratio relative to standalone tool-holder systems limits their effective usable bandwidth for analyzing force signals. Further limitations include high costs and lack of flexibility for general purpose turning operations. Due to this, such systems fail to find acceptance in practical applications and are mainly limited to research activities. To improve these aspects, this work investigates the use of an alternative integration concept using a piezoceramic thick film sensor for performing near-process cutting force measurements at the tool-holder. The charge output of the sensor was estimated using a coupled structural-piezoelectric simulation for its design. The modelled prototype was assembled and characterized by means of a static calibration and an impact hammer test. Following these, a first implementation of the system under dry cutting conditions took place. © 2023, The Author(s).

关键词： Lead zirconate titanate

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Coupled CFD model of tool environment and workspace to determine the convective heat transfer in jet cooling of milling processes in machine tools 20

Coupled CFD model of tool environment and workspace to deter...

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20th CIRP Conference on Modeling of Machining Operations in Mons, CIRP CMMO 2025

作者： Brier, Steffen Geist, Alexander Glänzel, Janine Naumann, Christian Regel, Joachim Dix, Martin Ihlenfeldt, Steffen Chemnitz University of Technology Professorship Production Systems and Processes Reichenhainer Str. 70 Chemnitz09126 Germany Fraunhofer-Institute for Machine Tools and Forming Technology IWU Reichenhainer Str. 88 Chemnitz09126 Germany Technical University Dresden Institute for Machine Tools Development and Adaptive Controls Helmholtzstraße 10 Dresden01069 Germany

The responsible use of resources is an essential part of the manufacturing of industrial products. This includes the economical use of cooling lubricant and requires precise knowledge of the cooling mechanisms and their effect on the accuracy of the machine tool and thus the thermal error. A temporal and spatial resolution of the dynamic coolant flow near the tool and in the entire workspace in a single model would require a large simulation time. Therefore, a composite model was developed, that consists of a near-tool model and a larger surrounding workspace model. The required static near-tool cooling lubricant distribution is obtained via data discretization methods from a separate static simulation that resolves the turbulence of the cooling lubricant created by the tool rotation. The identified coolant distribution is integrated into a CFD near-tool model (with simplified tool geometry) which is coupled with a surrounding CFD workspace model. The workspace model is thus able to identify the effects of the coolant wetting on the machine surface temperature and finally, using thermo-elastic FEM simulations, on the resulting thermal error. This approach allows the composite model to simulate the entire workspace with reduced simulation effort and map the coolant-influenced heat transfer coefficients on the machine surface. © 2025 The Author(s).

关键词： Milling machines

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Development of a suction gripper network based on the biological role model of an octopus

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Procedia CIRP 2024年 125卷 184-189页

作者： Rayk Fritzsche Henriette Kunze Erik Jäger Head of group Adaptable System at Fraunhofer Institute for Machine Tools and Forming Technology IWU Reichenhainer Straße 88 Chemnitz 09126 Germany Scientific employee at Fraunhofer Institute for Machine Tools and Forming Technology IWU Reichenhainer Straße 88 Chemnitz 09126 Germany

The handling of fragile, sensitive or flexible components in assembly technology and production requires grippers that are designed for gentle handling of the objects to be gripped. Suction grippers are still a widespread standard solution for this purpose. However, rising energy prices are making pneumatic grippers, which work with a central upstream compressed air supply, increasingly unattractive. The generation of the compressed air itself, the mostly leaky transmission and the relatively inefficient vacuum generation are cost drivers that many users would like to avoid. Consequently, vacuum-based gripper means are required for industrial production, which work without externally generated compressed air. At the fraunhofer IWU, a compressed-air-free suction pad composite has been developed that enables gripping of components with a wide variety of shapes. The underlying concept is inspired by the function of the suction arms (tentacles) of an octopus. By evacuating several small volume areas, which can be individually mechanically actuated, safe and sensitive gripping of objects is possible. For the generation of the vacuum, a piston system and a principle of an artificial muscle were developed, which is controlled based on shape memory alloys.

关键词： artificial muscle shape memory alloys (SMA) suction gripper suction gripper network

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A Hybrid Approach of No-Code Robot Programming for Agile Production: Integrating Finger-Gesture and Point Cloud

A Hybrid Approach of No-Code Robot Programming for Agile Pro...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Jayanto Halim Paul Eichler Sebastian Krusche Mohamad Bdiwi Steffen Ihlenfeldt Group Collaborative Robot Systems Fraunhofer Institute for Machine Tools and Forming Technology Chemnitz Germany Departement of Production System and Factory Automation Fraunhofer Institute for Machine Tools and Forming Technology Chemnitz Germany

ISBN: (数字)9798350375022

ISBN: (纸本)9798350375039

Industrial robot programming necessitates specialized expertise and significant time commitment, particularly for small-batch productions. In response to the escalating demand for production agility, novel approaches have emerged in intuitive robot programming. These inventive systems, rooted in diverse conceptual frameworks, are designed to expedite the deployment of robot systems. A prominent innovation in this domain is adopting no-code robot programming through finger-based gestures. A robot program can be generated by capturing and tracking non-expert users’ finger movements and gestures, converting 3D coordinates into an executable robot programming language. However, accurately determining finger positions for 3D coordinates and precise geometrical features presents an ongoing challenge. In pursuit of heightened trajectory precision and reducing more significant effort for the users, we propose a hybrid methodology that amalgamates finger-gesture programming with point cloud data. This synergistic integration demonstrates promising outcomes, substantiating its potential to facilitate the precise and adaptive generation of robot paths within robot applications.

关键词： Point cloud compression Technological innovation Three-dimensional displays Service robots Tracking Robot kinematics Welding Trajectory Robots Robot programming

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A No-Code Approach for Intuitive Robot Programming for Agile Welding Application

A No-Code Approach for Intuitive Robot Programming for Agile...

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International Workshop on Robot Sensing (ROSE)

作者： Jayanto Halim Mohamad Bdiwi Steffen Ihlenfeldt Group Collaborative Robot Systems Fraunhofer Institute for Machine Tools and Forming Technology Chemnitz Germany Department of Production System and Factory Automation Fraunhofer Institute for Machine Tools and Forming Technology Chemnitz Germany

ISBN: (数字)9798350362367

ISBN: (纸本)9798350362374

Agile manufacturing paradigms have revolutionized a new era of production processes, offering unparalleled flexibility and adaptability to the ever-changing landscape of product variations and smaller batch sizes. In response to this dynamic environment, the robotic industry has undergone a significant transformation, presenting a range of versatile robotic systems capable of swiftly deploying diverse applications. This transformative shift accelerates manufacturing processes and showcases the ability to accommodate product specifications and batch size variations. Welding is a notable example of robotics playing a crucial role in agile production. This work presents a novel approach combining no-code robot programming and an intelligent vision-based welding system. By leveraging this framework, even non-expert users can seamlessly instruct welding trajectories through intuitive interactions. These trajectories are meticulously crafted using advanced welding seam extraction algorithms, considering various welding joint types and inputs from heterogeneous sensors. Consequently, robot-specific parameters can be parametrized, and the generated robot code can seamlessly translate into robotic movements in the real world. Validation of this approach through real-world experiments underscores its potential for deployment in agile welding applications. The promising results affirm this novel methodology's efficacy, paving the way for its practical implementation in real-world scenarios. By effectively bridging the divide between advanced robotics and agile manufacturing, this approach can potentially elevate industrial robotic applications to new levels of efficiency and adaptability.

关键词： Agile manufacturing Service robots Welding Semantics Production Robot sensing systems Mathematical models

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Development approach of a workflow for 3D printing of living mycelium materials and their growth manipulation

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Procedia CIRP 2024年 125卷 302-307页

作者： Sophia Elsner Rebekka Jesch Linda Weisheit Lukas Boxberger Steffen Ihlenfeldt Welf-Guntram Drossel Fraunhofer Institute for Machine Tools and Forming Technology IWU Nöthnitzer Straße 44 01187 Dresden Germany

As a viscous mycelium-substrate-composite, mycelia can be processed into more complex geometries in generative extrusion-based processes, even without molding tools. Biological transformation can also affect the properties of a printed object such that the mycelium still lives and grows after the 3D-build-process and changes the object over time. Depending on the substrate composition, type of fungus and growth conditions, different properties of the object can be manipulated. Different test geometries with corresponding preliminary characterization tests are shown. The present results demonstrate that test geometries could be successfully 3D printed with living mycelium material and manipulated during cultivation.

关键词： Free forming Material Processing 4D+ Printing Biological Transformation Biomechatronics Mycelium Materials

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Approach to a GPT-based Early Detection Tool to Evaluate Heterogeneous Data Sources and Identify Reconfiguration Needs of SMEs in the Production Sector 57

Approach to a GPT-based Early Detection Tool to Evaluate Het...

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18th IFAC Workshop on Time Delay Systems, TDS 2024

作者： Jacob, Adrian Achour, Anas Ben Teicher, Uwe Ihlenfeldt, Steffen Fraunhofer Institute for Machine Tools and Forming Technology IWU Pforzheimer Str. 7a Dresden01189 Germany TU Dresden Institute of Mechatronic Engineering Helmholtzstr. 7a Dresden01062 Germany

In the face of a rapidly evolving commercial ecosystem, small and medium-sized enterprises (SMEs) must ensure their process chains are capable of swift reconfiguration to mitigate disruptions from supply chain volatility, regulatory changes, and demand shifts. This study addresses the need for reconfiguration in the context of data-driven opportunities for early identification of reconfiguration needs in SMEs, with a focus on the production sector. We identify a variety of diverse and heterogeneous data sources that are critical for tracking these disruptions, such as public news, economic reports, market analyses, legal documents, and internal corporate records. To make use of these data streams, we propose an innovative early detection tool that employs advanced machine learning techniques and private, locally operated Generative Pretrained Transformers (GPTs). This system is intended to process and analyze the various data formats that SMEs encounter including HTML, PDF and plain text as well as quantitative data. By combining public and company internal data while addressing privacy concerns, the tool aims to provide SMEs with a comprehensive tracking of their commercial environments. The tool also addresses the challenges posed by the limited availability of large datasets within SMEs, which are typically required for effective use of machine learning techniques, allowing for effective operation with smaller datasets. As these technologies continue to advance, their impact across various industries, including legal, manufacturing, and supply chain management, is set to expand significantly. The proposed tool offers SMEs enhanced decision-making, compliance assurance, and the ability to proactively adapt to the unpredictable global business landscape. © 2024 The Authors.

关键词： Chains

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Silver-integrated EDM processing of TiAl6V4 implant material has antibacterial capacity while optimizing osseointegration

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Bioactive Materials 2024年第1期31卷 497-508页

作者： Hilmar Büssemaker Ann-Kathrin Meinshausen Viet Duc Bui Joachim Döring Vadym Voropai Adrian Buchholz Andreas J.Mueller Karsten Harnisch André Martin Thomas Berger Andreas Schubert Jessica Bertrand Department of Orthopaedic Surgery Otto-von-Guericke University MagdeburgGermany Professorship Micromanufacturing Technology Chemnitz University of TechnologyChemnitzGermany Institute of Molecular and Clinical Immunology Otto-von-Guericke University MagdeburgGermany Health Campus Immunology Infectiology and InflammationOtto-von-Guericke University MagdeburgMagdeburgGermany Institute of Materials and Joining Technology Otto-von-Guericke UniversityMagdeburgGermany Fraunhofer Institute for Machine Tools and Forming Technology ChemnitzGermany

Periprosthetic joint infections(PJI)are a common reason for orthopedic revision *** has been shown that the silver surface modification of a titanium alloy(Ti-6Al-4V)by PMEDM(powder mixed electrical discharge machining)exhibits an antibacterial effect on Staphylococcus *** the thickness of the silver-modified surface influences the adhesion and proliferation of bacteria as well as the ossification processes and in-vivo antibacterial capacity has not been investigated ***,the aim of this work is to investigate the antibacterial effect as well as the in vitro ossification process depending on the thickness of PMEDM silver modified *** attachment of *** on the PMEDM modified surfaces was significantly lower than on comparative control samples,independently of the tested surface *** proliferation,however,was not affected by the silver content in the surface *** observed a long-term effect of antibacterial capacity in vitro,as well as in *** induction of ROS,as indicator for oxidative stress,was observed in the bacteria,but not in osteoblast-like *** influence on the in vitro osteoblast function was observed,whereas osteoclast formation was drastically reduced on the silver *** changes in cell death,the metabolic activity and oxidative stress was measured in *** show that already small amounts of silver exhibit a significant antibacterial capacity while not influencing the osteoblast ***,PMEDM using silver nano-powder admixed to the dielectric represents a promising technology to shape and concurrently modify implant surfaces to reduce infections while at the same time optimizing bone ingrowth of endoprosthesis.

关键词： alloy silver powder

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