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Robot machining of thin-walled workpieces with automatically reconfigurable fixturing through feature analysis

Procedia CIRP 2023年 120卷 1065-1070页

作者： Andreas Schütz Armin Lechler Alexander Verl Jürgen Fleischer Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Seidenstrasse 36 70174 Stuttgart Germany Institute of Production Science (wbk) Karlsruhe Institute of Technology Gotthard-Franz-Straße 5 76131 Karlsruhe Gremany

Machining of large scale thin-walled workpieces pose high requirements for fixturing because of large stiffness changes due to material removal. Automatically reconfigurable fixtures that allow in-process reconfiguration are a promising approach. In this paper, an efficient approach based on feature analysis is proposed for fixture reconfiguration planning. For this, material removal is simulated. At discrete points in time, feature analysis is performed and an approximated local stiffness map is calculated with weight functions derived from the features’ parameterizations. Viable fixture configurations are then identified through root finding and validated through simulation in Ansys and experimentally with a fixture jig. In both validations, workpiece deformation for drilling operations could be reduced to an acceptable level enabling the implementation's future use in industrial application.

关键词： industrial robot robot machining fixture reconfigurable filexible

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Towards learning digital twin: case study on an anisotropic non-ideal rotor system

arXiv

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arXiv 2024年

作者： Zhou, Zhibo Walther, Michael Verl, Alexander Robert Bosch GmbH Robert Bosch Campus 1 Renningen71272 Germany Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Seidenstraße 36 Stuttgart70174 Germany

In the manufacturing industry, the digital twin (DT) is becoming a central topic. It has the potential to enhance the efficiency of manufacturing machines and reduce the frequency of errors. In order to fulfill its purpose, a DT must be an exact enough replica of its corresponding physical object. Nevertheless, the physical object endures a lifelong process of degradation. As a result, the digital twin must be modified accordingly in order to satisfy the accuracy requirement. This article introduces the novel concept of"learning digital twin (LDT)," which concentrates on the temporal behavior of the physical object and highlights the digital twin’s capacity for lifelong learning. The structure of a LDT is first described. Then, in-depth descriptions of various algorithms for implementing each component of a LDT are provided. The proposed LDT is validated on the simulated degradation process of an anisotropic non-ideal rotor system. © 2024, CC BY-NC-ND.

关键词： Adversarial machine learning

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Selection and Design Process for End-Effectors

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Procedia CIRP 2024年 130卷 969-976页

作者： Tobias Eberhardt Walter Schaaf Alexander Verl Graduate School of Excellence advanced Manufacturing Engineering (GSaME) University of Stuttgart Nobelstraße 12 70569 Stuttgart Germany Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Seidenstraße 36 70174 Stuttgart Germany J. Schmalz GmbH Johannes-Schmalz-Straße 1 72293 Glatten Germany

Due to increasing economic competition, many companies are automating their production processes by means of handling systems. One very important component of any handling system is the end-effector, as it comes into direct contact with the handling object. Therefore, selecting and designing the best end-effector is of enormous importance for the safe and successful operation of handling systems. This paper presents a concept of a process for the systematic selection and design of end-effectors. The concept presented here exemplified for vacuum suction grippers. A first implementation showed the feasibility of the concept.

关键词： End-Effector Vacuum Handling System Selection Process Design Process Recommendation System

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Towards Efficient Real-Time Model Adaption for Online Simulation at machine Level

Towards Efficient Real-Time Model Adaption for Online Simula...

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Intelligent Computing and control (IC&C), International Conference on

作者： Darius Deubert Zhibo Zhou Andreas Selig Alexander Verl Bosch Rexroth AG Lohr am Main Germany Corporate Sector Research and Advance Engineering Robert Bosch GmbH Renningen Germany Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany

ISBN: (数字)9798350351873

ISBN: (纸本)9798350351880

The simulation of components, machines or plants provides many benefits in today's manufacturing. Online simulation, in this context, means that a system is simulated in parallel to its operation. This is beneficial to extract relevant information from the system, which could be used for control, monitoring, service or maintenance of the industrial system. To ensure the reliability of online simulation, especially for dynamically changing behavior, an online adaption of the simulation models is necessary. Real process data and further observations should be used to track the real behavior with the online simulation. This requires metrics to compare simulation with reality, an appropriate triggering mechanism for the adaption, suitable parameter selection and estimation methods to determine optimal model parameters. There are a lot of mathematical tools, which could be considered to solve these problems. However, all of them have individual characteristics regarding their suitability for online simulation. This paper gives an overview of methods that are needed for online model adaption in form of a narrative review and assesses them based on their applicability for real-time online simulation. Furthermore, it addresses realization challenges and adaption of first-principle models. This work therefore provides a theoretical foundation for real-time model adaption for online simulation at machine level.

关键词： Measurement Adaptation models Reviews Estimation Real-time systems Mathematical models manufacturing Maintenance Data mining Monitoring

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Resulting Artifacts and Application Scenarios of the Communication Intermediate Layer SFCS with A Focus on Usability for the Automation Industry 4

Resulting Artifacts and Application Scenarios of the Communi...

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4th IEEE International Conference on Knowledge Innovation and Invention, ICKII 2021

作者： Strljic, Matthias Milan Prokop, Eric Saueressig, Sebastian Riedel, Oliver Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany Sotec Software Entwicklungs GmbH Smart Connected Systems Stuttgart Germany

ISBN: (纸本)9781665423076

Due to the influence of the digital transformation, communication between individual shop-floor components is changing more dynamic communication patterns and development platforms such as messaging and microservices. For a user-friendly entry into these interaction patterns, the research project SFSC (Shop-Floor Service Connector) created a communication layer that makes it easier for users from the automation sector and abstracts infrastructure aspects, such as a service registry, from the user in order to simplify the transformation for employees from the automation sector. For this purpose, the integrated messaging pattern publish/subscribe, request/reply, and channels with the SFSC architecture have already been presented in previous work. This architecture has now been extended with a microcontroller implementation and a deployment environment and finally validated with a demonstrator, which is presented with its performance results. The validation environment consists of a CNC milling cell, supplying assembly lines, a camera-based quality control, and a handling robot arm. Application scenario-typical data flow for data integration is mapped with the help of the PLC4X project and data-driven value-added services are realized and connected based on these. © 2021 IEEE.

关键词： Data integration

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Identifying machine times with OPC UA for Equipment as a Service (EaaS) – possibilities and limitations

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Procedia CIRP 2024年 130卷 578-583页

作者： Dimitri Evcenko Tonja Heinemann Holger Kett Armin Lechler Oliver Riedel Andreas Wortmann Institute of Human Factors and Technology Management (IAT) University of Stuttgart Nobelstraße 12 70569 Stuttgart Germany Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Seidenstr. 36 70174 Stuttgart Germany Fraunhofer IAO Fraunhofer Institute for Industrial Engineering (IAO) Nobelstraße 12 70569 Stuttgart Germany

With Equipment as a Service (EaaS), subscription-based business models are becoming increasingly popular in mechanical and plant engineering. The main argument in favor for EaaS is a better overall equipment effectiveness (OEE) when a factory supplier operates the equipment. Therefore, the constant determination of the OEE in EaaS operations becomes crucial. This value is usually determined combining data retrieved from the equipment itself in combination with data from higher level systems like the manufacturing execution system (MES) of the customers. The latter are not accessible by the factory supplier. To bridge this information gap, the OEE of a piece of equipment is determined based solely on the available equipment data retrieved through data exchange standards such as the Open Platform Communications Unified Architecture (OPC UA). To achieve this, the time information needed to determine the OEE as defined in the ISO 22400-2 standard is either directly determined from OPC UA data from the machines or approximated through assumptions and exclusions. As an example for the mapping of equipment data to different time information, machine tools are focused and, hence, OPC UA 40501 and OPC UA 40001. In addition, the findings are analyzed regarding limitations in using the available time data via OPC UA. The mapping’s applicability is demonstrated with an exemplary use case and the OEE is compared when calculated only with equipment data retrieved via OPC UA with the OEE calculation having the additional information from a higher level system. This comparison allows to evaluate the uncertainty introduced by making assumptions and exclusions. The results are a valuable input to supplement the OPC UA Companion Specifications in order to cover the OEE determination in EaaS use cases.

关键词： Equipment as a Service (EaaS) OPC UA overall equipment effectiveness (OEE) machine monitoring

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Model-Based DevOps: Foundations and Challenges

Model-Based DevOps: Foundations and Challenges

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Conference on Model Driven engineering Languages and Systems Companion (MODELS-C)

作者： Benoit Combemale Jean-Marc Jézéquel Quentin Perez Didier Vojtisek Nico Jansen Judith Michael Florian Rademacher Bernhard Rumpe Andreas Wortmann Jingxi Zhang University of Rennes 1 Rennes France Software Engineering RWTH Aachen University Aachen Germany Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Stuttgart Germany

Time-to-market and continuous improvement are key success indicators to deliver for Industry 4.0 Cyber-Physical Systems (CPSs). There is thus a growing interest in adapting DevOps approaches coming from software systems to CPSs. However, CPSs are made not only of software but also of physical parts that need to be monitored at runtime. In this paper, we claim that Model-Driven engineering can facilitate DevOps for CPSs by automatically connecting a CPS design model to its runtime monitoring, in the form of a digital twin.

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Orientation smoothing in multi-axis additive manufacturing 55

Orientation smoothing in multi-axis additive manufacturing

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55th CIRP Conference on manufacturing Systems, CIRP CMS 2022

作者： Chalvin, Maxime Wulle, Frederik Campocasso, Sébastien Elser, Anja Hugel, Vincent Verl, Alexander Université de Toulon COSMER Toulon France Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Seidenstraße 36 Stuttgart70174 Germany ARENA2036 e.V. Pfaffenwaldring 19 Stuttgart70569 Germany

In multi-axis processes, such as material extrusion like Fused Filament Fabrication (FFF), the orientation of the tool relatively to the workpiece is usually set by the CAM software to an angle that is locally constant relative to the manufacturing surface. However, in the case of large curvature gradients or small curvature radius of the surface or the path, this method leads to significant variations of the tool orientation. These variations require large compensating movements of the axes to maintain the desired deposition tool orientation along the path. Kinematic constraints such as acceleration or jerk limits can lead to a reduction of the path velocity or noticeable positioning errors along the movement, as well as unwanted vibrations, which means poor process conditions and defects in the parts. The paper presents a post path planning algorithm that allows smoothing of the tool orientation to avoid jerky compensation motion of the CNC system by varying the orientation within a defined tolerance. This tolerance depends on the deposition process, and is determined experimentally for a FFF process. The proposed methodology was successfully validated by the manufacturing of two sample parts using a robotic additive manufacturing cell. © 2022 The Authors. Published by Elsevier B.V.

关键词： Additive manufacturing machine tool Optimization Robot tool path

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Integration Challenges for Digital Twin Systems-of-Systems

Integration Challenges for Digital Twin Systems-of-Systems

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IEEE/ACM International Workshop on Software engineering for Systems-of-Systems (SESoS)

作者： Judith Michael Jé rô me Pfeiffer Bernhard Rumpe Andreas Wortmann Software Engineering RWTH Aachen University Germany Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Germany

Research and industry leverage digital twins to monitor and control (cyber-physical) systems in various domains. For their efficient engineering, these twins need to become Systems-of-Systems (SoS), in which digital twins of smaller systems (e.g., a production machine) become parts of digital twins of larger systems (e.g., a factory). Yet, research on digital twins as SoS largely ignores reusing digital twins in SoS. Based on our experience in engineering digital twins with experts from various domains related to production systems engineering, we present insights on the challenges of composing and integrating that need to be addressed for efficient engineering of digital twins as SoS. These insights may guide future research on engineering digital twins as well as practitioners considering the challenges in building and composing digital twin systems-of-systems.

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Multi-axis two photon polymerization machine and software concept for the manufacturing of aspheric lenses on non-planar substrates

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Procedia CIRP 2023年 118卷 682-687页

作者： Daniel Kurth Simon Ristok Sopie Rühle Alexander Verl Harald Giessen Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Seidenstr. 36 70174 Stuttgart Germany 4th Physics Institute and Research Center SCoPE University of Stuttgart Pfaffenwaldring 57 70569 Stuttgart Germany

The state of research in two-photon polymerization (TPP) additive manufacturing (AM) focuses on 2.5D systems. Consequently, the advantages known from other multi-axis AM (MAAM) processes, such as printing on non-planar surfaces, are unexplored. To experimentally examine the transferability of these to TPP AM, a printer and related software need to be developed. For the testing of our printing system, we focus on manufacturing aspheric lenses, using spherical glass lenses as blanks and printing the aspheric contour onto these non-planar substrates. The presented concept details how the existing process chain needs to be adapted, thus providing a prototype 5D TPP system for printing on specific non-planar surfaces.

关键词： Additive manufacturing (AM) Two-photon polymerization (TPP) Curved layer slicing Optics Non-planar substrates

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