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Model-Based Systems engineering for machine tools and Production Systems (Model-Based Production engineering)

Procedia manufacturing 2018年 24卷 216-221页

作者： Karl Kübler Stefan Scheifele Christian Scheifele Oliver Riedel Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Seidenstr. 36 70174 Stuttgart Germany

Model-Based Systems engineering (MBSE) has been known in aerospace and automotive industries for more than a decade and is based on a model-driven approach to integrate all engineering disciplines. This paper shows a promising approach to meet the ongoing challenges in the development of production systems. First, the current sequential, mechatronic engineering process of production systems is summarized and deficits are pointed out. Then, the paper outlines a roadmap with necessary steps to adapt the MBSE approach to the engineering of production systems, called Model-Based Production engineering (MBPE). This roadmap includes the definition of a design language for production systems.

关键词： MBPE MBSE CPS CPPS HILS

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A generic data structure for the specific domain of robotic arc welding

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Procedia CIRP 2018年 72卷 322-327页

作者： Alexander Schmidt Christoph Martin Thomas Dietz Andreas Pott Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) Seidenstraße 36 70174 Stuttgart Germany Fraunhofer Institute for Manufacturing Engineering and Automation (IPA) Nobelstraße 12 70569 Stuttgart Germany

The systematic analysis of robotic arc welding processes requires unified structured data, which is currently not available due to the diversity of data sources. This paper proposes an integrated data structure for the specific domain of robotic gas metal arc welding. The presented data structure contains a description of the welding system, the design of the welded parts, welding instructions, and time series of measured process data. Collected data enriched with semantic context is stored and analyzed using this data structure. The usefulness is exemplified but not limited by a use-case suggesting welding process parameters to the worker.

关键词： arc welding big data analysis industrial robots

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Smart centering for rotation-symmetric parts in multi-stage production systems for zero-defect manufacturing

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Procedia CIRP 2019年 79卷 27-32页

作者： Colin Reiff Florian Eger Philipp Tempel Maria Chiara Magnanini Jon Ander Ortiz Marcello Colledani Alexander Verl Iñigo Sarries Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Seidenstr. 36 70174 Stuttgart Germany Politecnico di Milano Department of Mechanical Engineering Via la Masa 1 20156 Milan Italy IK4-Ideko Arriaga Industrialdea 2 Elgoibar 20870 Spain MiiRA CAF J.M. Iturrioz 26 Beasain 20200 Spain

During manufacturing, geometrical deviations occur, e.g. due to heating processes. In multi-stage production systems, these errors propagate and lead to expensive rework or, even, to unusable products. In this paper, a method for smart centering of rotation-symmetric parts is introduced. The method is used in the scope of achieving zero-defect manufacturing processes. For this purpose, the products are measured and automatically compared with the required specifications. Based on the identified deviations, process parameters can be adjusted and thus, defects can be compensated in downstream production steps. The method is exemplified in the context of an industrial use case.

关键词： manufacturing Process Machining Compensation Measurement Quality assurance

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Automatic Close-optimal Workpiece Positioning for Robotic manufacturing.

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Procedia CIRP 2018年 72卷 277-284页

作者： Julian R. Diaz P. Poulastya Mukherjee Alexander Verl Fraunhofer Institute for Manufacturing Engineering and Automation (IPA). Nobelstrasse 12 D-70569 Stuttgart Germany. Institute for Control Engineering of Machine Tools and Manufacturing Units ISW University of Stuttgart Seidenstrasse 36 70174 Stuttgart Germany

Robot programming is still an expert dependent and not automatically optimized task. In order to make this process more automatic and intuitive for the end-user, this paper presents a novel approach to determine a close-optimal workpiece pose for different robotic manufacturing processes like welding and milling. The approach is based on a model-based interpretation of the Product, Process, and Resource (PPR) components defined in an internally developed Computer-Aided manufacturing (CAM) software. After the interpretation addressed to simplify the path planning, an algorithm uses sample-based motion planning techniques and optimization algorithms, in order to find optimal motions in reaction to infeasible states of the robot (i.e. maximum joint limits and reachability) and a close-optimal workpiece pose. The optimized path planning is achieved by exploring an interpreted Configuration Space (C-space) using a Degree of Freedom (DoF) of the Robot manufacturing Processes (RMP) and by interpreting its constraints. Simulation results are presented for robotic welding and milling task by optimizing welding orientations and robot stiffness respectively in the path planning and the joint movements and gravity cost criteria in the workpiece positioning. Optimization of these criteria could be used in RMP to address improvement of the process quality.

关键词： Workpiece positioning optimization robot path planning robotic manufacturing robotic welding robotic milling

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Dynamic Real-time Orchestration of I4.0 Components based on Time-Sensitive Networking

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Procedia CIRP 2018年 72卷 910-915页

作者： Frederick Prinz Michael Schoeffler Armin Lechler Alexander Verl Corporate Sector Research and Advanced Engineering Robert Bosch GmbH 71272 Renningen Germany Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart 70174 Stuttgart Germany

Future production systems demand for a standardized digital representation of I4.0 components including their capabilities. Many concepts of such a digital representation have been published under the term administration shell. However, these concepts do not explicitly cover the use of administration shells to orchestrate real-time capable I4.0 components. In this paper, we recap an existing I4.0 framework that enables the dynamic orchestration of non-real-time I4.0 components. As main contribution, we integrate real-time capable I4.0 components into this framework. Thereby, the entire communication is standard-compliant to the new real-time technology Time-Sensitive Networking (IEEE 802.1). The advantages of our approach are demonstrated by a dynamic plug-and-produce scenario in which real-time axes are controlled based on G-code.

关键词： Cyber-physical production systems Industry 4.0 Framework Administration shell Real-time communication Time-Sensitive Networking engineering G-code

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Architecture and Implementation of an Interface for Intelligent tools in machine tools

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Procedia manufacturing 2017年 11卷 2077-2082页

作者： Vieler, Hendrik Lechler, Armin Riedel, Oliver Institute for Control Engineering of Machine Tools and Manufacturing Units Seidenstraße 36 Stuttgart 70174 Germany

Nowadays a growing number of additional features, provided by intelligent tools, are used in machine tools to improve the quality of machined products or to enhance functionality of machine tools. This brings some problems concerning interfaces as each manufacturer of additional tools uses his own interfaces, which may exclude others. In this paper an interface is described, which is manufacturer independent and allows integration of additional functionality into machine tools with minimal effort for integration and configuration. © 2017 The Authors

关键词： Communication Cyber Physical Systems Industry 4.0 Milling machines

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Concept And Design Of A Spherical Joint Mechanism For Service Robots

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Procedia manufacturing 2018年 24卷 74-79页

作者： Tim Froehlich Dr. Ulrich Reiser Felix Meßmer Prof. Dr.-Ing. Alexander Verl Mojin Robotics GmbH Panoramaweg 5/1 71111 Waldenbuch Germany University Stuttgart Institute for Control Engineering of Machine Tools and Manufacturing Units Seidenstr. 36 70174 Stuttgart Germany

Robots in daily human environments need to fulfill a lot of requirements and boundary conditions to be accepted and useful. To meet these, in this paper, a mechanism similar to a spherical joint is proposed and compared to others. It can be used to extend the workspace of manipulators and add a wide coverage for sensors mounted on the head of the system while being safe by design and enabling an agile and expressive display of gestures. Beside a generic description of the geometry and the main dimensions of the mechanism, also the kinematic calculation and properties of the workspace are shown and discussed.

关键词： Service robots Kinematics Spherical joint Robotics

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User Interface for the Acquisition and Characterization of Defects and Performed Rework in Multi-Stage Production Systems

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Procedia CIRP 2018年 78卷 243-248页

作者： Colin Reiff Florian Eger Tobias Korb Hermann Freiberger Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Seidenstrasse 36 70174 Stuttgart Germany ABF Industrielle Automation GmbH Deggendorfstrasse 6 4030 Linz Austria

In the context of the optimization of multi-stage production systems, a large number of process, workpiece and machine data are recorded using sensor systems. However, since not all influencing factors and possible defects, especially in highly complex process chains, can be detected by physical sensors, the machine operator’s experience and his ability to identify non-conformances play a decisive role for achieving zero-defect manufacturing of high-quality parts. In order to make use of these aspects for defect and process analyses as well as for downstream compensation, rework measures and data-driven optimization strategies, a user interface connected to a central database is required. The user interface aims to enable standardized recording of identified defects and performed rework. For this purpose, a game engine is used to allow a user-friendly operation using touch gestures and a three-dimensional visualization of the workpiece. The web-based tool is implemented on the front end of a database enabling a cross-platform access from various devices.

关键词： Human Aspect manufacturing System Quality control

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Correlation analysis methods in multi-stage production systems for reaching zero-defect manufacturing

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Procedia CIRP 2018年 72卷 635-640页

作者： Florian Eger Colin Reiff Bernd Brantl Marcello Colledani Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units Seidenstr. 36 70174 Stuttgart Germany Politecnico di Milano Department of Mechanical Engineering Via la Masa 1 20156 Milan Italy

Based on the amount of production steps and the related complexity, multi-stage production systems are very error-prone. In order to compensate for this disadvantage and to achieve zero-defect manufacturing, a data-driven approach is needed. The increasing availability of sensor and machine data provides a high informational content of the individual processes, which can be evaluated with appropriate methods. Literature shows various methods of data analysis for examining the correlations of data sets. These methods and strategies are analyzed, hierarchically structured and extended by four developed algorithms. Finally, the data-driven analysis tool is presented and validated using two industrial use cases.

关键词： Zero-defect manufacturing Multi-stage Production System Correlation Analysis

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A Radar-Based Terrain Mapping Approach for Stair Detection Towards Enhanced Prosthetic Foot control

A Radar-Based Terrain Mapping Approach for Stair Detection T...

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IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)

作者： Bernhard Kleiner Nils Ziegenspeck Roman Stolyarov Hugh Herr Urs Schneider Alexander Verl Department of Biomechatronic Systems Fraunhofer Institute for Manufacturing Engineering and Automation IPA Germany Massachusetts Institute of Technology Center for Extreme Bionics USA University Stuttgart Institute of Control Engineering of Tool Machines and Manufacturing Units ISW Germany

Ahstract- Current developments in ankle prosthetics are focusing on integrated actuators to fully control torques and angles. This enables terrain adaptive strategies e.g. for stairs and ramps. EMG and motion sensor input are state of the art approaches to classify different terrain or terrain changes, but these approaches have limited capabilities and detection accuracy. We present a novel approach for the detection of obstacles using a wearable Frequency-Modulated Continuous Wave (FMCW) radar integrated into a lower limb prosthetic device. With the continuous rotational motion of the tibia during the swing and stance phase, the radar scans the profile of the terrain in sagittal plane in front of the prosthesis. Gait phases are detected using a neural network classifiers based on inertial sensor data. Performance of the system is demonstrated in a single stair detection scenario.

关键词： Prosthetics Radar antennas Radar measurements Chirp Foot Estimation

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