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Flexible, Self-configuring control System for a Modular Production System

Procedia Technology 2014年 15卷 398-405页

作者： Stefan Scheifele Jens Friedrich Armin Lechler Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Seidenstr. 36 70174 Stuttgart Germany

This paper presents a control concept of a modular manufacturing system (MPS). Having exchangeable process modules, the system can produce a wide range of products. For process modules a new concept for a Configuration and Information Memory (CIMory) is proposed. The CIMory provides a description of the module and its capabilities. Based on this information the control system, as well as the guidance system configures itself. The control follows a holistic approach with a hybrid structure to support both, modules with internal intelligence or with a simple command executing I/O unit. A Workflow Manager (WFM) organizes the production processes and the data exchange between all modules and the human-machine interface (HMI).

关键词： Modular Production System (MPS) Configuration and Information Memory (CIMory) Workflow Manager (WFM) self-configuration

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Productivity Increase through Joint Space Path Planning for Robot Machining

Productivity Increase through Joint Space Path Planning for ...

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Computer Modeling and Simulation, EMS, UKSIM European Symposium on FLAGGED

作者： Agus Atmosudiro Matthias Keinert Ali Karim Armin Lechler Alexander Verl Akos Csizar Department of Mechanical Engineering Institute for Control Engineering of Machine Tools and Manufacturing Units Stuttgart Germany University of Stuttgart Graduate School of Excellence advanced Manufacturing Engineering Stuttgart Germany

ISBN: (纸本)9781479974139

machine tools realize tool movements with high accuracy mainly due to highly developed computerized numerical controls (CNCs). As articulated industrial robots are used more and more for machining, robot controllers (RC) have to be equipped with additional path planning capabilities, similar to machine tools. A RC is very similar to a CNC from a software and hardware point of view, but with one major difference, the RC has an additional transformation stage, the transformation from Cartesian space to joint space. Machining with robots is a field intensely researched in the last years. CNC systems for robots are commercially available, furthermore, more and more CAM systems have extensions for machining with robots. Most of these offer a simulation of the machining process using a robot model, in order to solve the inverse kinematic problem and, additionally, to take into consideration axis motion limits (maximum angular amplitudes) and singularities. Moreover, path planning for machining robots is done in exactly the same way as for machine tools, with the mentioned additional transformation stage. This paper describes the advantages and challenges which result from the integration of the kinematic transformation in the path planning stage.

关键词： Joints Machining Accuracy Computer numerical control Path planning Service robots

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Aspects Concerning Kinetostatic Properties of Parallel Robots

Aspects Concerning Kinetostatic Properties of Parallel Robot...

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ISR/Robotik 2014;41st International Symposium on Robotics

作者： Cornel Brisan Catalin Boanta Akos Csiszar Alexander Verl Department of Mechatronics and Machine Dynamics Technical University of Cluj-Napoca Graduate School of Excellence advanced Manufacturing Engineering University of Stuttgart Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart

This paper presents a factorial analysis of the compensation of dynamic characteristics of a special class of reconfigurable haptic device. The haptic device is a reconfigurable parallel structure with having a revolute joint as actuated joint. In order to decrease the inertia and the moving mass of the mechanism this actuated joint is attached to the fixed platform of the mechanism. The haptic device interacts with a human operator by the means of its end effector. The dynamic compensation takes in consideration the mechanical properties of the robot in order to achieve a "transparent" mechanical structure. A "transparent" mechanical structure implies that forces or movements rendered through a haptic device remain unaltered due to friction, inertia or gravity (i.e. dynamic behavior) of the structure. Interaction with a virtual world has to be an immersive experience. The 'transparent' mechanical structure achieved by dynamic compensation facilitates the immersiveness of the haptic experience.

关键词： haptic device MECHANICAL STRUCTURES Fixed platforms compensated Revolute joints Inertial forces moving mass Hyalin Parallel robots end effectors Factor analysis Mechanical properties aspect dynamic characteristics configurability

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A Model- and Signal-based Power Consumption Monitoring Concept for Energetic Optimization of machine tools

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Procedia CIRP 2014年 15卷 44-49页

作者： Philipp Eberspächer Philipp Schraml Jan Schlechtendahl Alexander Verl Eberhard Abele Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) Seidenstraße 36 70174 Stuttgart Germany Institute of Production Management Technology and Machine Tools (PTW) Otto-Berndt-Str. 2 64287 Darmstadt Germany

As energy consumption is one of the main drivers for production and operational cost of a product, it is necessary to make operators of manufacturing units and machine tools aware of the current power consumption of their operating equipment. However, it is not sufficient to provide the current overall power consumption but to give different levels of detail. This paper presents an approach to combine power measurements, control signals and information with consumption simulation models to provide the operators with highly detailed power consumption data and how it is distributed over the components of their machine tools. An implementation of the monitoring approach on a HSC milling machine is presented in detail, followed by an overview of its use for energetic optimization.

关键词： energy efficiency consumption modeling energy monitor ECOMATION energy optimization machine tools

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A robust algorithm for autotuning controllers in mechatronic modules

A robust algorithm for autotuning controllers in mechatronic...

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WGP Congress 2014

作者： Friedrich, Christian Stanicki, Andreas Bröcker, Markus Lechler, Armin Verl, Alexander Universität Stuttgart Institute for Control Engineering of Machine Tools and Manufacturing Units Seidenstraße 36 Stuttgart Germany Schunk GmbH and Co. KG R and D Automation and Mechatronics Bahnhofstraße 106-134 Lauffen/Neckar Germany Hochschule Heilbronn Laboratory for Control Engineering and System Simulation Max-Planck-Straße 39 Heilbronn Germany

ISBN: (纸本)9783038352457

Electric actuators are an important part of every manufacturing system. Often it is a problem to get a good motion control configuration which allows high performance tasks. This contribution shows how the mechanical load and the self-dynamics of the system associate. Based on this, it is possible to formulate an identification algorithm to estimate the mechanical load. Now all system parameters are known and the controller can be computed automatically. Therefore we show the results in an experiment with a classic cascaded and a flatness-based controller. © (2014) Trans Tech Publications, Switzerland.

关键词： Actuators

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Design and Evaluation of In-line Product Repair Strategies for Defect Reduction in the Production of Electric Drives

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Procedia CIRP 2014年 21卷 159-164页

作者： M. Colledani D. Coupek A. Verl J. Aichele A. Yemane Politecnico di Milano Mechanical Engineering Department Via la Masa 1 20156 Milano Italy Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) Seidenstraße 36 70174 Stuttgart Germany Corporate Research Robert Bosch GmbH Postfach 300240 70442 Stuttgart Germany

manufacturing companies are continuously facing the challenge of operating their manufacturing processes and systems in order to deliver the required production rates of high quality products of increasing complexity, with limited use and waste of resources. This aspect is particularly critical in emerging sectors, such as the e-mobility industry, where state of the art quality and process control technologies show strong limitations. This paper proposes new solutions for implementing in-line product repair strategies in the production of electric drives for the automotive industry. Moreover, it develops an innovative quantitative tool to estimate the impact of the proposed strategies on the overall process-chain performance. The benefits of the approach are validated within a real industrial context.

关键词： Product Repair Electric Drives Assembly Zero-defect manufacturing

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Introducing an automated reconfiguration mechanism for flexible metal forming systems using a web service-based architecture approach 22

Introducing an automated reconfiguration mechanism for flexi...

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22nd International Conference on Production Research, ICPR 2013

作者： Birkhold, M. Abel, M. Verl, A. Institute for Control Engineering of Machine Tools and Manufacturing Units Seidenstraße 36 Stuttgart70174 Germany

Classic mechanical presses limit the flexibility of metal forming systems due to their fixed sinusoidal motion. Servo presses are no longer limited to a fixed sinusoidal motion, combining the free motion capability of hydraulic presses with the speed of classic mechanical presses. This new freedom of the press motion allows the integration of peripheral processes into the forming tool, reducing the necessity of follow-up processes. However, this new capability comes at the cost of increased complexity of the tool, which needs its own control system. Current techniques for the integration of peripheral systems lack granularity and need tedious hand tweaking. Therefore, many tool manufacturers have yet to embrace the new capabilities of servo presses. In this paper we introduce a novel approach, in which a press tool uses a middleware to automatically set-up the fieldbus configuration, during reconfiguration of the press. The considered peripheral system consists of three transfer modules which combine two forming parts in the tool for welding. The access to additional system data is necessary for the sophisticated transfer motions in this tool. Additionally, the necessity of manually tweaking the synchronization of the transfer is eliminated by this new approach. The capabilities of the new approach are demonstrated using state of the art controllers of a production system.

关键词： Presses (machine tools)

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Industrial powerline communication for machine tools and industrial robots

Industrial powerline communication for machine tools and ind...

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2013 IEEE 17th International Symposium on Power Line Communications and Its Applications, ISPLC 2013

作者： Joao, Lopes Karl-Heinz, Wurst Alexander, Verl Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Seidenstraße 36 70174 Stuttgart Germany

ISBN: (纸本)9781467360166

machine manufactures are facing a challenging moment: on one hand the need to lower the prices, on the other hand the need for more machine flexibility and availability. In this context, Industrial Powerline Communication (IPLC) can play a capital role, by reducing the costs and increasing flexibility. In this paper the requirements and constraints of Powerline Communication (PLC) and Industrial Communication are merged and a solution to this problem proposed. This solution consists of a ferrite filtering, with the task of building a Daisy Chain Network topology on top of a PLC bus. © 2013 IEEE.

关键词： Industrial robots

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Analysis and evaluation of collision detection libraries for collision monitoring of multichannel control applications 22

Analysis and evaluation of collision detection libraries for...

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22nd International Conference on Production Research, ICPR 2013

作者： Hoher, Simon Neher, Philipp Verl, Alexander University of Stuttgart Institute for Control Engineering of Machine Tools and Manufacturing Units Seidenstraße 36 Stuttgart70174 Germany

The main objective of this paper is to evaluate collision detection libraries for collision monitoring of multichannel control applications. First, the requirements for collision monitoring of multi-channel control will be presented. On this basis suitable collision detection libraries will be analyzed and selected considering the required feature range. The assumed libraries are then evaluated in regard to their runtime characteristics. In particular the time-intensive memory accesses at runtime and the time deterministic and efficient execution times during different experiments are examined in more detail on a real-time platform.

关键词： Libraries

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Adaptive spindle speed variation to improve process stability 22

Adaptive spindle speed variation to improve process stabilit...

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22nd International Conference on Production Research, ICPR 2013

作者： Friedrich, J. Verl, A. Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Seidenstr. 36 StuttgartD-70174 Germany

A limiting factor of the performance of machine tools is the dynamic process behavior. Suppression of chatter is still an important measure to increase productivity. Spindle speed variation is a known possibility to reduce chatter vibrations without changes to the machine tool using the degree-of-freedom of the spindle speed. In this paper the new adaptive spindle speed variation (ASSV) method is presented. The ASSV algorithm automatically adapts the amplitude and the frequency of the spindle speed variation due to the current process stability conditions taking into account the machine capability and the process technology. A simulation model of the milling process is used to analyze and verify the functionality of the ASSV. With just using a simple P-or PI-controller in combination with the ASSV algorithm the depth of cut and thus the productivity can be increased to 150% in comparison to cutting with constant spindle speed with respect to the displacement of the tool tip.

关键词： machine tools

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