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29th International Symposium of Automation and Robotics in Construction, ISARC 2012

作者： Gambao, Ernesto Hernando, Miguel Surdilovic, Dragoljub Centre for Automation and Robotics UPM-CISC Madrid Spain Fraunhofer Institute for Production Systems and Design Technology Berlin Germany

Purpose: The handling of material is a high resource consuming task in many different manufacturing industries and especially in the construction sector. Global demand for material-handling products is projected to rise by 7.0 percent annually until 2014 to a total of $119 billion. Typically, work on the construction site, in the materials distribution process or in the construction materials production, includes extensive material handling tasks. Advanced automation and robotics technologies can enhance the productivity of this process, guaranteeing at the same time the highest level of safety for workers. Modular reconfigurable robotic systems are considered as one of the most challenging topics. A worldwide cutting-edge technical solution for material handling, based on the development of a modular intelligent power assists systems (collaborative robots, COBOTS), is presented in this paper. Method: Conventional manually-guided handling systems lack an intuitive and responsive control and may lead to back discomfort and fatigue. A significant improvement has been achieved by power-assisted systems developed by Stanley Cobotics in the USA, as well by the first cobot prototypes in German industry implemented through cooperation of ipk and Schmidt-Handling GmbH. The proposed material handling approach would constitute a significant breakthrough by bridging the gap between fully automatic and manual technologies. The developed intelligent power systems are capable of working with people also in a direct physical contact, combining human flexibility, intelligence, and skills with the advantage of sophisticated technical systems. Safety issues have been considered to be of paramount importance. Results & Discussion: A modular flexible collaborative robot prototype has been designed and developed as a demonstration of the proposed new generation of material handling methodology. This technology supposes a break with traditional paradigms regarding flexibility, cost, acce

关键词： Materials handling

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Pattern-based integrative design of molded interconnect devices (MID)

Pattern-based integrative design of molded interconnect devi...

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12th International design Conference, design 2012

作者： Dumitrescu, R. Gaukstern, T. Jürgenhake, C. Gausemeier, J. Kühn, A. Department Product Engineering Fraunhofer Institute for Production Technology IPT Project Group Mechatronic Systems Design Zukunftsmeile 1 33102 Paderborn Germany

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A conceptual framework for sustainable engineering design 19

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19th CIRP Conference on Life Cycle Engineering, LCE 2012

作者： Lindow, Kai Woll, Robert Stark, Rainer Chair Industrial Information Technology Technische Universität Berlin Germany Department Virtual Product Creation Fraunhofer-Institute Production Systems and Design Technology Berlin Germany

ISBN: (纸本)9783642290688

The paper describes a framework for the implementation of sustainable aspects into engineering design. The focus is on qualifying and enabling engineers in order to develop sustainable products thus a bottom-up approach is presented. The approach describes how the engineer can get aware of sustainable product design. So-called contextual sustainability behaviors are suggested. Since a product cannot meet all sustainable demands at a time, the proposed contextual sustainability areas will help to trade-off the over-constraint design solution space. A case study shows how the contextual sustainability areas are applied to a specific product. Additionally, an IT supported approach is introduced. The framework was developed for research community and is now heading towards industrial testing.

关键词： Decision making

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Model-based design of self-correcting strategy for a punch bending machine

Model-based design of self-correcting strategy for a punch b...

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14th IFAC Symposium on Information Control Problems in Manufacturing, INCOM'12

作者： Borzykh, M. Damerow, U. Henke, C. Trächtler, A. Homberg, W. Project Group Mechatronic Systems Design Fraunhofer Institute for Production Technology IPT Zukunftsmeile 1 33102 Paderborn Germany University of Paderborn Warburger Str. 100 33098 Paderborn Germany University of Paderborn Pohlweg 98 33098 Paderborn Germany

ISBN: (纸本)9783902661982

The precise reproduction of geometrical form often constitutes a challenge in manufacturing of metal parts. The reasons for form deviation can be e.g. varying properties of the semi-finished product as well as wear of the punch-bending machine or the punch-bending tool themself. Usually the process parameters are manually adjusted on the introduction of new production scenario or after the deviation between the actual form of produced pieces and the designed form become clear. The choice of new process parameters is normally based on the experience of the machine operators. It leads to a time-consuming and expensive procedure right on the early stages of production scenarios as well as during the established production process. Furthermore, the trend of miniaturization of part sizes along with narrowing tolerances and increase in the strengths of materials drastically pushes up the requirements on the production process. Aiming at reduction of scrap rate and setup-time of production scenarios, a self-correcting control strategy has to be developed. The strategy is designed by modeling the bending process. In the first step the bending model has to be analyzed by varying of process variables (e.g. the strength or the geometrical properties of the material) influencing the process significantly. It is done by corresponding simulations. After that, the correlations between input and output variables were defined and different self-correcting control strategies were designed and tested. In order to identify and validate the simulation and to test the quality of the self-correcting control strategies, a special experimental tool, representing the most important bending operations, was built up at the University of Paderborn. The experimental tool is equipped with an additional measurement device and can be operated on a universal testing machine. Finally, the self-correcting control strategies were tested under real production conditions on the original tool in order to

关键词： Quality control

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Solution patterns of software engineering for the system design of advanced mechatronic systems

Solution patterns of software engineering for the system des...

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Int'l Workshop on Mechatronics (MECATRONICS) , France-Japan & Europe-Asia Congress on and Research and Education in Mechatronics (REM)

作者： Harald Anacker Jürgen Gausemeier Roman Dumitrescu Stefan Dziwok Wilhelm Schäfer Heinz Nixdorf Institute University of Paderborn Paderborn Germany Project Group Mechatronic Systems Design Fraunhofer Institute for Production Technology Paderborn Germany

ISBN: (纸本)9781467347709

Recently, mechatronics as a self-contained discipline has doubtlessly shaped the development of technical systems. Mechatronics means the close interaction of mechanics, electronics, control engineering and software engineering in order to achieve a better systems behavior. Due to the advancement of information and communication technologies, the functionality of mechatronic systems will go far beyond current standards along with the potential to increase their robustness, flexibility and reliability. The design of such advanced mechatronic systems is a challenge. The increasing complexity requires a consistent comprehension of the tasks between all the developers involved. Especially during the early design phases (conceptual design/ system design), the communication and cooperation between the mechanical, electrical, control and software engineers is necessary to design a first overall system model. In this context, the main difficulty is how to integrate into a system model the solutions that have already been successfully used and described in detail. Currently, the reuse is partially established during discipline-specific engineering - in areas such as mechanics and software engineering. Nevertheless, a catalogue of domain-spanning reusable abstracts that may describe solution patterns for holistic system designs does not exist. Hence, to create a collective solution space as wide as possible, it is necessary to abstract gradually the discipline-specific described solutions on a generic level. The precondition is a functional description. It is easy to see that a function has to depict the solution in a neutral and abstract way as well as the volitional relation between the input and the output of a system. In our work, we present the necessary abstraction of domain specific solutions exemplified by reusable and detailed described solutions of software engineering.

关键词： Mechatronics System analysis and design Software Robot kinematics Protocols Unified modeling language

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Spatial programming for industrial robots based on gestures and Augmented Reality

Spatial programming for industrial robots based on gestures ...

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2012 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Jens Lambrecht Jörg Krüger Department of Industrial Automation Technology Institute for Machine Tools and Factory Management Berlin Institute of Technology Berlin Germany Fraunhofer Institute for Production Systems and Design Technology Berlin Germany

The presented spatial programming system provides an assistance system for online programming of industrial robots. A handheld device and a motion tracking system establish the basis for a modular 3D programming approach corresponding to different phases of robot programming: definition, evaluation and adaption. Static and dynamic gestures enable the program definition of poses, trajectories and tasks. The spatial evaluation is done using an Augmented Reality application on a handheld device. Therefore, the programmer is able to move freely within the robot cell and define the program spatially through gestures. The camera image of the handheld is simultaneously enhanced by virtual objects representing the robot program. Based on 3D motion tracking of human movements and a mobile Augmented Reality application, we introduce a novel kind of interaction for the adaption of robot programs. The programmer is enabled to interact with virtual program components through bare-hand gestures. Such sample forms of interaction include translation and rotation applicable to poses, trajectories or tasks representations. Finally, the program is adapted according to the gestural changes and can be transferred from the handheld device directly to the robot controler.

关键词： Programming Tracking Service robots Trajectory Robot kinematics Robot sensing systems

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Laser Metal Deposition as Repair technology for Stainless Steel and Titanium Alloys

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Physics Procedia 2012年 39卷 376-381页

作者： Benjamin Graf Andrey Gumenyuk Michael Rethmeier Fraunhofer Institute for Production Systems and Design Technology Pascalstraße 8-9 10587 Berlin Germany Federal Institute for Materials Research and Testing Unter den Eichen 87 12205 Berlin Germany

In a repair process chain, damaged areas or cracks can be removed by milling and subsequently be reconditioned with new material deposition. The use of laser metal deposition has been investigated for this purpose. The material has been deposited into different groove shapes, using both stainless steel and Ti-6Al-4 V. The influence of welding parameters on the microstructure and the heat affected zone has been studied. The parameters have been modified in order to achieve low heat input and consequently low distortion as well as low metallurgical impact. Finally, an evaluation of the opportunities for an automatized repair process is made.

关键词： Laser metal deposition laser powder cladding repair welding Ti-6Al-4 V stainless steel

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Freight transport system for urban shipment and delivery

Freight transport system for urban shipment and delivery

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2011 IEEE Forum on Integrated and Sustainable Transportation systems, FISTS 2011

作者： Brüning, Matthias Schönewolf, Werner Institute for Production Systems and Design Technology IPK 10587 Berlin Germany

ISBN: (纸本)9781457709906

Many problems with present conventional delivery scenarios in urban areas are caused by use of conventional vehicles. These problems are amongst others limited efficiency, ecological damages, disturbance of moving traffic and pedestrians and difficulties to comply with environmental and traffic regulations, affecting local communities, business people and their customers as well as the logistic companies. Courier, Express & Parcel (CEP) providers are obliged to use conventional cars and vans due to the lack of specialized solutions. Therefore our approach is improvement of urban shipment and delivery based on existing infrastructure by means of an innovative vehicle concept. Core of the developed transport system is a uniaxial transport unit, designed for application both as part of a multiple trailer vehicle and for use as separate hand-guided transportation unit. The concept was developed based on a catalog of requirements for a vehicle for urban shipment and delivery, a result from the EU research project FIDEUS. The developed concept satisfies all formulated demands. A test vehicle of the transport system was built. Current research focuses on controller synthesis and implementation. The next step intended is execution of field tests involving logistic companies to prove the vehicle system's suitability for daily use and to discover potential for improvement. © 2011 IEEE.

关键词： Environmental regulations

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Model-based design of Self-Correcting Strategy for a Punch Bending Machine

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IFAC Proceedings Volumes 2012年第6期45卷 1551-1555页

作者： M. Borzykh U. Damerow C. Henke A. Trächtler W. Homberg Project Group Mechatronic Systems Design Fraunhofer Institute for Production Technology IPT Zukunftsmeile 1 33102 Paderborn Germany Forming and Machining Technology (LUF) University of Paderborn Warburger Str. 100 33098 Paderborn Germany Control Engineering and Mechatronics (RtM) University of Paderborn Pohlweg 98 33098 Paderborn Germany

关键词： metal parts punch-bending process self-correcting strategies model-based design

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Principle Solution for designing Collaborative Humanoid Soccer Robots

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Procedia Engineering 2012年 41卷 1507-1515页

作者： Cheng Yee Low Norheliena Aziz Mustafa Aldemir Martin Mellado Roman Dumitrescu Harald Anacker Centre of Excellence for Humanoid Robots and Bio-Sensing Universiti Teknologi MARA Malaysia Siemens AS Corporate Technology Development Center Istanbul Turkey Instituto de Automática e Informática Industrial Universtat Politècnica de València Spain Project Group Mechatronic Systems Design Fraunhofer Institute for Production Technology Germany

The task of developing a fully collaborative humanoid robotic soccer team is a challenge. On one hand, the hardware of humanoid robots has evolved to allow fast and stable locomotion as well as precise sensing. On the other hand, the software of humanoid robots has evolved to enable highly complex operations such as object recognition and partial intelligence. Nevertheless, the cooperative play of multiple humanoid robots as a soccer team remains as an open research topic in the rapidly advancing research area of multi-robot systems. This work presents a systematic approach based on the specification of a principle solution for designing collaborative humanoid soccer robots as in the RoboCup Standard Platform League. The principle solution is specified using a newly developed specification technique for the conceptual design of mechatronic and self-optimizing systems. The presented approach enables intuitive specification of team strategies and systematic realization of collaborative behaviors of the humanoid soccer robots starting from the conceptual design phase. It facilitates cross domain development effort that requires multidisciplinary collaboration.

关键词： humanoid robotics mechatronics principle solution intelligent technical systems design methodology

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