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Distributed Motion Planning for Industrial Random Bin Picking

Procedia CIRP 2018年 76卷 121-126页

作者： Vojtěch Vonásek Axel Vick Jörg Krüger Czech Technical University in Prague Faculty of Electrical Engineering Technicka 2 166 27 Prague Czech Republic Fraunhofer Institute for Production Systems and Design Technology (IPK) Berlin Germany Department of Industrial Automation Technology Technische Universität Berlin Germany

The task of bin picking is to automatically unload objects from a container using a robotic manipulator. A widely used solution is to organize the objects into a predictable pattern, e.g., a workpiece carrier, in order to simplify all integral subtasks like object recognition, motion planning and grasping. In such a case, motion planning can even be solved offline as it is ensured that the objects are always at the same positions. However, there is a growing demand for non-structured bin picking, where the objects can be placed randomly in the bins. This arises from recent trends of transforming classical factories into smart production facilities allowing small lot sizes at the efficiency of mass production. Due to unknown positions of the objects in the non-structured bin picking scenario, trajectories for the manipulator cannot be precomputed, but they have to be computed online. Sampling-based motion planning methods like Rapidly Exploring Random Tree (RRT) can be used to plan the trajectories. In this paper, we propose a modification of RRT for distributed motion planning aiming to reduce the runtime. The planning task is first simplified by computing several guiding waypoints. The waypoints are distributed to a set of planners running in parallel and each planner computes a short trajectory between two given waypoints. Connecting the waypoints is easier than solving the original task, therefore each planner runs fast. In comparison to other parallel motion planning techniques, the proposed approach does not require any communication among the computational nodes, which is more suitable for cloud-based computing. The proposed work has been verified both in simulation and on a prototype of a bin picking system.

关键词： Industrial Robot Path Planning Cloud Robotics Distributed Control Sampling-based motion planning

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Liquid covered micro-milling 17

Liquid covered micro-milling

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17th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2017

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

ISBN: (纸本)9780995775107

Micro-milling tools made of cemented carbide suffer from fast tool wear and random tool breakage during the machining process. The cutting material cemented carbide is composed of a hard material phase made of tungsten carbide and a binder phase made of cobalt. An allotropical crystal lattice transformation of the binder phase at a temperature υ = 420 °C leads to increased tool wear. Commonly minimum quantity lubrication (MQL) is used as cooling lubricant technology in micro-milling. In this work a new liquid covered cooling lubricant (LCCL) technology and the commonly used MQL technology were compared regarding tool wear of cemented carbide tools for machining the steel STAVAX ESU. In the LCCL technology the cutting process is completely covered with cutting lubricant. It could be concluded that the new LCCL technology offers a high potential to reduce the tool wear in micro-milling of steel with cemented carbide micro-milling tools.

关键词： Wear of materials

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Research opportunities in PSS design focusing on the potentials of agile approaches

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Procedia CIRP 2019年 84卷 832-837页

作者： Till Blüher Daniel Capaldo Amaral Kai Lindow Janaina M.H. Costa Rainer Stark Technische Universität Berlin Pascalstraße 8-9 10587 Berlin Germany São Carlos School of Engineering Production Engineering Department University of São Paulo Av. Traballhador São Carlense 400 13566-590 São Carlos SP Brazil Fraunhofer Institute for Production Systems and Design Technology Pascalstraße 8-9 10587 Berlin Germany

Product-Service systems (PSS) are offerings combining product, service and, in some cases, internet-of-things (IoT) functionalities to a uniform value proposition (e.g. car sharing), which promises higher customer value, greater sustainability, constant revenue streams and other benefits. The development of PSS, however, adds extra complexity to development processes compared to stand-alone products. While a lot of research exists in the field of PSS development processes, application in industry is still low. One possible explanation for that is that the plan-driven logic behind process models, which differs from the trends regarding agility and new iterative management models. Hence, as a result it needs to be clarified if agile approaches can benefit PSS design models? Fourteen researchers in the domains of PSS development and process model design from the University of São Paulo and Technical University of Berlin met in two workshop sessions, lasting for four days each, in order to explore barriers for industry application of PSS development theory and to identify research opportunities regarding agile approaches for more practical PSS design models. The research team has conducted multiple sessions using different methods such as world café, concept map, cause-effect diagram, in order to identify research questions. Industry experts, who attended the workshop, as well as visits to PSS providers in Germany and Brazil, have been used to verify our findings assuring practical relevance. This paper presents a list of research opportunities identified that consolidate an initial research agenda. We found that it is necessary to explore the potentials of agile approaches in PSS design to better synchronize development cycles, to incorporate different stakeholders and their interfaces and to adapt development plans to dynamic environments. These research routes can be a solution for practical, flexible and simple PSS design models.

关键词： PSS design PSS process models agile development iterative development

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Dry-EDM milling of micro-scale features with high speed rotating tungsten tube electrodes 17

Dry-EDM milling of micro-scale features with high speed rota...

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17th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2017

作者： Uhlmann, E. Perfilov, I. Schimmelpfennig, T.-M. Schweitzer, L. Yabroudi, S. Fraunhofer Institute for Production Systems and Design Technology IPK Germany Institute for Machine Tools and Factory Management IWF Technische Universität Berlin Germany

ISBN: (纸本)9780995775107

Micro electrical discharge milling is an alternative to die-sinking EDM for the machining of three-dimensional micro-structures or cavities with free-form surfaces. An important advantage provided by micro-EDM milling for this purpose is the possibility to use simple pin or tube electrodes with diameters de ≤ 500 μm. This reduces the manufacturing costs of the workpiece and decreases the setup time for positioning electrodes. The high density of conventional dielectric fluids and the resulting small working gap cause a severe contamination of the working gap with particles and as a consequence short-circuits and process instability. The use of gaseous dielectrics, like compressed air, leads to enhancements in the flushing conditions and the cooling of the tool and workpiece electrodes. The gas is injected through the tube electrode under high pressure, resulting in high flow velocities and a removal of melted material from the working gap. A new spindle with a maximum rotation speed of n ≤ 400,000 rpm was developed by the institute for Machine Tools and Factory Management IWF of the Technische Universität Berlin for the realization of micro dry-EDM milling with tube electrodes. The high speed rotation of the tool electrode stabilizes the process and increases the material removal rate due to better flushing conditions. This paper presents the equipment and machining results of dry-EDM milling of simple micro-scale features.

关键词： Electrodes

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Characterization and optimization of ultra-precision machine tools and processes by time resolved PSD signature of micro/nano structured optical surfaces

Characterization and optimization of ultra-precision machine...

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2017 Spring Topical Meeting on Precision Engineering and Optics: What are the Limits of Precision, and How to Characterize Them?

作者： Uhlmann, Eckart Kühne, Stefan Jagodzinski, Marco Malcher, Markus Institute for Machine Tools and Factory Management IWF Technische Universität Berlin Germany Fraunhofer Institute for Production Systems and Design Technology IPK Germany

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Droplet removal from PVD-coated micro-milling tools with the immersed tumbling process 17

Droplet removal from PVD-coated micro-milling tools with the...

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17th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2017

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

ISBN: (纸本)9780995775107

The physical vapour deposition (PVD) process is widely used for the coating of cutting tools. The increased hardness and temperature stability permitted a higher cutting speed and longer tool life in comparison to uncoated tools. Within the PVD-process droplets of the target can be deposited on the coated surface. The consequence is an inhomogeneous surface of the cutting tools with an increased surface roughness. In this study, the immersed tumbling process is used for the droplet removal of micro-milling tools. The results show the functionality of the process for the droplet removal depending of the lapping media and process parameters in connection with the amount and size of the droplets.

关键词： Drops

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Contribution to a database of Ti-6Al-4V components manufactured with selective laser melting process

Contribution to a database of Ti-6Al-4V components manufactu...

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ASPEN/ASPE 2017 Spring Topical Meeting on Manufacture and Metrology of Structured and Freeform Surfaces for Functional Applications

作者： Uhlmann, Eckart Bergmann, André Gridin, Witalij Rolon, Daniel Alexandre Institute for Production Systems and Design Technology IPK Fraunhofer-Gesellschaft Berlin Germany Institute for Machine Tools and Factory Management IWF Technical University of Berlin Berlin Germany

In summary, the components manufactured additively through SLM proved to have characteristics similar to conventionally manufactured parts in high temperatures. Especially when testing the material properties with temperatures higher than 300 °C. This assumption is not only supported by a quantitative analysis of the material properties, but also by characterizing the microstructure of the SLM samples. Moreover, a database is constituted, which can help to design and plan components built using SLM through extensive simulations. Future works, should study the different possibilities of constructing the tensile test samples. Moreover, studies could focus on other types of super alloys such as Inconel 718, which is often employed in the same context as Ti-6Al-4V.

关键词： Aluminum alloys

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Shortened manufacturing of individualized carbide tools by selective laser melting and hot isostatic pressing

Shortened manufacturing of individualized carbide tools by s...

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ASPEN/ASPE 2017 Spring Topical Meeting on Manufacture and Metrology of Structured and Freeform Surfaces for Functional Applications

作者： Uhlmann, Eckart Bergmann, André Gridin, Witalij Institute for Production Systems and Design Technology IPK Fraunhofer-Gesellschaft Berlin Germany Institute for Machine Tools and Factory Management IWF Technical University of Berlin Berlin Germany

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Holo Pick'n'Place

Holo Pick'n'Place

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IEEE International Conference on Emerging Technologies and Factory Automation

作者： Martin Rudorfer Jan Guhl Paul Hoffmann Jorg Kruger Industrial Automation Technology Group Technische Universität Berlin Berlin Germany Fraunhofer Institute for Production Systems and Design Technology Berlin Germany

In this paper we contribute to the research on facilitating industrial robot programming by presenting a concept for intuitive drag and drop like programming of pick and place tasks with Augmented Reality (AR). We propose a service-oriented architecture to achieve easy exchangeability of components and scalability with respect to AR devices and robot workplaces. Our implementation uses a HoloLens and a UR5 robot, which are integrated into a framework of RESTful web services. The user can drag recognized objects and drop them at a desired position to initiate a pick and place task. Although the positioning accuracy is unsatisfactory yet, our implemented prototype achieves most of the desired advantages to proof the concept.

关键词： Programming Task analysis Robot kinematics Visualization Service-oriented architecture Object recognition

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Learning process planning for special machinery assembly

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Procedia Manufacturing 2018年 23卷 75-80页

作者： Jan P. Menn Felix Sieckmann Holger Kohl Günther Seliger Technische Universität Berlin Pascalstraße 8-9 10587 Berlin Germany Fraunhofer Institute for Production Systems and Design Technology Pascalstraße 8-9 10587 Berlin Germany

Special machinery manufacturers provide customer specific solutions. These specific solutions create tremendous challenges for employees during first assembly, erection at the customer site and future service activities. Especially in serial production, Learning Factories proved to be an effective solution to convey competencies for employees on how to improve production related processes. In special machinery, product specific competencies like working principle and built up of machines are additionally important. Therefore, to utilize the advantages of Learning Factories in special machinery it is necessary to shift the focus from processes to products. This results also in additional requirements regarding versatility of the technical infrastructure. A learning process planning approach which addresses requirements of special machinery assembly, has been designed. It was exemplarily applied for the knowledge transfer regarding the assembly process of an integrally geared compressor. As every product in special machinery is unique, learning process steps have to be adapted for each product. Therefore, a shorter assembly learning process is necessary to cope with continuing product innovations and customer requirements. Around a basic compressor casing that represents the least common denominator regarding product variety, specific interchangeable sub-assemblies for product variants are implemented that utilize digital content. This allows a fast adaption to different product variants.

关键词： Learning Assembly Learning Factory Learnstruments Special Machinery

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