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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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Cutting force predictionin micro-milling considering the cutting edge micro-geometry 19

Cutting force predictionin micro-milling considering the cut...

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19th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2019

作者： Uhlmann, E. Polte, J. Wiesner, H.M. Kuche, Y. Polte, M. Fraunhofer Institute for Production Systems and Design Technology IPK Germany Institute for Machine Tools Factory Management IWF Technische Universität Berlin Germany

ISBN: (纸本)9780995775145

The micro-milling process is used for a wide range of materials and enables the manufacturing of complex geometries with micro-features. One important factor for the tool life is the cutting force Fc, which depends on the applied technology, process parameters and cutting edge micro-geometry. High cutting forces Fc can lead to tool breakage in the transition between the shank and the cutting part of cemented carbide end mills. The prediction of cutting forces Fc in micro-milling processes through cutting force models could potentially decrease the hazard of tool breakage. By including the cutting edge radius rβ into the prediction model, additional correction factors can be avoided. Therefore, further knowledge about the applicability of those models for the micro-milling process with chip thickness h © 2019 European Society for Precision Engineering and Nanotechnology, Conference Proceedings - 19th International Conference and Exhibition, EUSPEN 2019. All rights reserved.

关键词： Milling (machining)

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Manufacturing of graphite electrodes with high geometrical requirements 19

Manufacturing of graphite electrodes with high geometrical r...

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19th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2019

作者： Uhlmann, E. Kuche, Y. Polte, J. Polte, M. Fraunhofer Institute for Production Systems and Design Technology IPK Germany Institute for Machine Tools Factory Management IWF Technische Universität Berlin Germany

ISBN: (纸本)9780995775145

Graphite is widely used for the die-sinking electrical discharge machining (EDM) process, especially for the roughing process. For the manufacturing of graphite electrodes the milling process is mainly used. The process enables fast processing times tP and high geometrical flexibility. In consequence of the cutting behaviour of graphite micro-components with geometrical features can be manufactured. In this contribution the manufacturing of micro-pins and bridges with aspect ratios of A = 1:50 were machined with diamond coated milling tools. By variation of the depth of cut ap and the width of cut ae it can be shown that the influence of the depth of cut ap is quite bigger than the influence of the width of cut ae. This results in consequence of the higher stability of the geometrical features by improved force distribution. © 2019 European Society for Precision Engineering and Nanotechnology, Conference Proceedings - 19th International Conference and Exhibition, EUSPEN 2019. All rights reserved.

关键词： Graphite electrodes

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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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Ultra-precision-milling of silicon by means of single crystal diamond tools 19

Ultra-precision-milling of silicon by means of single crysta...

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19th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2019

作者： Uhlmann, E. Polte, M. Rolon, D.A. Kühne, S. Institute for Machine Tools Factory Management IWF Technische Universität Berlin Germany Fraunhofer Institute for Production Systems and Design Technology IPK Germany

ISBN: (纸本)9780995775145

Silicon is an important material often employed on most of micro-electro mechanical systems (MEMS), integrated circuits, microchips, and micro-fluidic devices. Therefore, strategies and process parameters to machine those planar 2.5-D geometries of silicon are essential. Moreover, silicon belongs to the group of hard-brittle materials, which means that it is very likely to originate cracks during the milling operations as a result of the intermittent interaction of the cutting edge and the silicon surface. Besides, the machining of silicon results on severe tool wear. The ductile-brittle transition and tool wear reduction of the silicon-milling are aspects still not completely investigated. Consequently, this paper aims at finding the proper parameter range for ductile ultra-precision milling (UP-milling) of 2.5-D silicon geometries employing single crystal diamond cutting tools. Furthermore,the evaluation the tool wear after the process is a crucial part of the investigations. In order to fulfil such knowledge gap, single groove experiments are proposed. The milling process to generate those grooves is monitored by means of force measurements. Also, surface aspects of the machined grooves are measured through white light interferometry (WLI). For evaluating tool wear, dry UP-milling investigations are conducted and images of the cutting edges are taken by means of a scanning electron microscope (SEM). The experiments show that the machining of silicon is feasible and the ductile material removal is possible. Moreover, the process forces Fpr generated by the UP-milling process of single crystal silicon are able to be employed for monitoring and avoid the transition from ductile to brittle material removal. © 2019 European Society for Precision Engineering and Nanotechnology, Conference Proceedings - 19th International Conference and Exhibition, EUSPEN 2019. All rights reserved.

关键词： Diamond cutting tools

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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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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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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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Energy efficiency measures for metal forming using hydraulic and mechanical presses

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AIP Conference Proceedings 2024年第1期2989卷

作者： Mandy Preuß Gregor Thiele Jörg Krüger Ökotec Energiemanagement GmbH Torgauer Straße 12 Berlin Germany Fraunhofer IPK Institute for Production Systems and Design Technology Pascalstraße 8-9 10587 Berlin Germany Technical University of Berlin Institute for Machine Tools and Factory Management Pascalstraße 8-9 10587 Berlin Germany

In conventional hydraulic presses only around 13 percent of the energy supplied is converted into the plastic forming of the metal. Mechanical presses achieve an overall efficiency of 13 to 30 percent. A variety of approaches aspire efficiency improvements by tuning process parameters. For the operation engineers it is a crucial task to find measures which are both technical suitable and economical promising. This paper summarizes popular tuning parameters and presents the assessment by seven experts who participated in semi-structured interviews. For hydraulic presses, the most recommend tuning parameter to be adjusted is the pressing force. For mechanical presses the continuous stroke operation is the most popular measure.

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Process data based Anomaly detection in distributed energy generation using Neural Networks

Process data based Anomaly detection in distributed energy g...

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International Conference on Control, Automation and Diagnosis (ICCAD)

作者： Max Klein Gregor Thiele Adalbert Fono Niloufar Khorsandi David Schade Jörg Krüger Fraunhofer Institute for Production Systems and Design Technology IPK Berlin Germany AUCOTEAM GmbH Berlin Germany Institute for Machine Tools and Factory Management Technical University of Berlin Berlin Germany

ISBN: (数字)9781728169996

ISBN: (纸本)9781728170008

The increasing share of renewable energies in the total energy supply includes a growing number of small, decentralized energy generation which also provides control energy. These decentralized stations are usually combined to a virtual power plant which takes over the monitoring and control of the individual participants via an Internet connection. This high degree of automation and the large number of frequently changing subscribers creates new challenges in terms of detecting anomalies. Quickly adaptable, variable and reliable methods of anomaly detection are required. This paper compares two approaches using Neural Networks (NN) with respect to their ability to detect anomalous behavior in real process data of a combined heat and power plant. In order to include process dynamics, one approach includes specifically engineered features, while the other approach uses Long-Short-Term-Memory (LSTM). Both approaches are able to detect rudimentary anomalies. For more demanding anomalies, the respective strengths and weaknesses of the two approaches become apparent.

关键词： Power generation Artificial neural networks Computer architecture Monitoring Anomaly detection Generators Time series analysis

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