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31st CIRP Design Conference 2021, CIRP Design 2021

作者： Ellwein, Carsten Reichle, Alexander Herschel, Melanie Verl, Alexander Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Seidenstr. 36 StuttgartD-70174 Germany Institute Parallel and Distributed Systems University of Stuttgart Universit" atsstr. 38 StuttgartD-70569 Germany

The term co-design describes a collaborative design process, usually across the boundaries of individual areas. A major aspect, and often an obstacle in the implementation of the co-design approach, is the establishment of a centralized data management system. In the past, the data management concept has been approached from different perspectives. Current approaches usually are oriented along the process chain and thus reflect a unidirectional flow of information. Neither the information feedback nor the reaction to adjustments in upstream model steps is supported, which makes continuous collaboration more difficult and at best reduces the co-design approach for continuous data usage. This paper addresses these weaknesses while outlining an integrative data processing concept enabling co-design between the domains of construction and industrial prefabrication. Geometrical information generated during architectural design and construction planning is reused for the production of components, manufacturing-related design adjustments are transferred back into the domain of construction. Changes throughout the entire process are centrally recorded. To ensure independence from the software tools used and to consider their great diversity, data exchange is largely based on standards, namely industry foundation classes and the standard for the exchange of product model data. In order to counteract the sequential processing according to a waterfall model and to support the co-design approach, the industrial prefabrication toolchain, consisting of computer-aided manufacturing software and downstream postprocessors, is largely automated, so that reprocessing of a workpiece for minor geometric adjustments no longer requires any interaction of the production planner. © 2021 Elsevier B.V.. All rights reserved.

关键词： Computer aided design

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On Kinetostatics and Workspace Analysis of Multi-platform Cable-Driven Parallel Robots with Unlimited Rotation

On Kinetostatics and Workspace Analysis of Multi-platform Ca...

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作者： Reichenbach, Thomas Tempel, Philipp Verl, Alexander Pott, Andreas Institute of Control Engineering for Machine Tools and Manufacturing Units University of Stuttgart Seidenstrasse 36 Stuttgart70174 Germany

Cable-driven parallel robots are a special kind of parallel mechanism which use cables instead of rigid prismatic actuators to control a single platform. This paper presents a modeling approach to replace the single platform by multiple platforms. With this approach, it is possible to perform unlimited rotation with cable robots end-effector by relatively positioning these multiple platforms. We show how this class of cable robots can be modeled as multi-body system, where platforms are connected with linkages by using revolute joints. These linkages can be seen as coupling elements. For example, using a crankshaft as coupling element, cable robots can perform novel motions such as unlimited rotation. We find a generic approach describing such multi-platform cable robot systems, after which force distribution and workspace of a case study are analyzed. Finally, we find out that inclusion and total orientation workspace are nonempty, considering joint reaction forces and platform and linkage masses. Furthermore, our modeling approach can be used for spatial multi-platform cable robots with revolute joints. © 2020, Springer Nature Switzerland AG.

关键词： Rotation

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Subjective validation for short-term material flow simulation

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Procedia CIRP 2025年 134卷 562-566页

作者： Heiner Reinhardt Boran Bogdanow Roman Arnold Bastian Prell Philipp Klimant Frank Seifert Mahtab Mahdaviasl Steffen Ihlenfeldt Fraunhofer Institute for Machine Tools and Forming Technology IWU Reichenhainer Straße 88 09126 Chemnitz Germany Volkswagen Sachsen GmbH Kauffahrtei 47 09120 Chemnitz Germany Technical University of Applied Sciences Wildau Hochschulring 1 15745 Wildau Germany Professorship Virtual Technologies Hochschule Mittweida - University of Applied Sciences Technikumplatz 17 09648 Mittweida Germany Chemnitz University of Technology Straße der Nationen 62 09111 Chemnitz Germany Institute of Machine Tools and Control Engineering Technische Universität Dresden Helmholtzstraße 7a 01062 Dresden Germany

Material flow simulation, by means of discrete event simulation (DES), is frequently applied to support decision-making in production planning and control. However, manual modeling can be time-consuming and error-prone. Hence, numerous studies propose the automation of model generation and synchronization to overcome these challenges. However, in this context, validation techniques are rarely addressed. Therefore, we introduce a subjective validation technique for short-term material flow simulation based on a coherent methodology for data acquisition and visualization. The methodology is utilized to evaluate the outcome of an approach for computerized model generation and simulation. By means of an industrial use case, we hypothesize the causes for the deviation between the operation of a manufacturing system and the simulation of its generated virtual companion.

关键词： Digital Twin Simulation Quality Optimization Manufacturing system control Analysis

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Latency optimized architectures for a real-time inference pipeline for control tasks

Latency optimized architectures for a real-time inference pi...

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Information and Communication Technology for Development for Africa (ICT4DA), International Conference on

作者： Florian Schellroth Jannik Lehner Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Stuttgart Germany

ISBN: (纸本)9781665436670

With the increasing development of GPUs, the inference time of CNNs continues to decrease. This enables new AI applications in manufacturing that have a direct impact on the control of a process. For this, a GPU is integrated into a real-time system so that the CNN can be executed in real-time. However, it is not sufficient to consider the inference process only, but also to minimize the latency of the whole pipeline. For this purpose, execution strategies of the inference pipeline are presented and evaluated in this paper. The presented architectures are compared using criteria for latency, implementation effort, and exchangeability. The latencies are quantified with measurements on a demonstrator. As a result, the most synchronous architecture has the lowest latency but is not suitable for the use in a service-oriented architecture as targeted by the Industry 4.0. For this, another architecture is presented, providing a good balance between latency and service orientation.

关键词： Image processing Pipelines Graphics processing units Process control Production Real-time systems Service-oriented architecture

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Gain-Scheduled Drive-based Damping control for Industrial Robots

TechRxiv

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TechRxiv 2021年

作者： Mesmer, Patrick Hinze, Christoph Lechler, Armin Verl, Alexander The Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart70174 Germany

The drivetrain flexibility of industrial robots limits their accuracy. To open up new areas of application for industrial robots, an increased dynamic path accuracy has to be obtained. Therefore, this paper addresses this issue by a gain-scheduled drive-based damping control for industrial robots with secondary encoders. For this purpose, a linear parameter-varying (LPV) model is derived as well as a system identification method is presented. Based on this, a gain-scheduled drive-based LPV damping control design is proposed, which guarantees stability and performance under variation of the manipulator configuration. The control performance of the approach is experimentally validated for the three base joints of a KUKA KR210-2 industrial robot. The approach realizes a trade-off between ease of implementation and control performance as well as robustness. © 2021, CC BY-SA.

关键词： Industrial robots

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Method for generating manufacturable, topology-optimized parts for laminated layer manufacturing 53

Method for generating manufacturable, topology-optimized par...

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53rd CIRP Conference on Manufacturing Systems, CMS 2020

作者： Helfesrieder, Nico Lechler, Armin Verl, Alexander University of Stuttgart Institute for Control Engineering of Machine Tools and Manufacturing Units Seidenstraße 36 Stuttgart70174 Germany

The great flexibility provided by generative manufacturing offers immense potential for the structural component optimization. However, this freedom needs to be utilized by appropriate CAx tools. In this paper, we present a novel slicing method, enabling the automatic generation of topology-optimized Laminated Layer Manufacturing (LLM) parts. With this method a part of arbitrary shape can be automatically sliced and equipped with a uniform virtual grid that is suitable for manufacturing. The optimal density distribution is then mapped onto the individual slices and locally approximated through the introduction of variably shaped cavities. By using 3D modeling techniques all LLM sheets are modeled parametrically and assembled automatically. To verify the functionality of the presented method, it is applied to two practical parts and compared with a conventional topology optimization method. © 2020 The Authors.

关键词： Topology

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Comparative Analysis of Factory Simulation Description Models for Comprehensive Description of Model Design 2

Comparative Analysis of Factory Simulation Description Model...

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2nd IEEE Eurasia Conference on IOT, Communication and engineering, ECICE 2020

作者： Brovkina, Daniella Kienzlen, Annika Riedel, Oliver Stuttgart70569 Germany The Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart70174 Germany

ISBN: (纸本)9781728180601

Simulation models are used during the entire life cycle of a factory. Because of a factory's complexity, different simulation tools with different scope emerged over time. The holistic mapping requires coupled simulations that consider the factory from different perspectives. Each simulation requires a new tool and simulation model, which, up to now, has usually been created manually. This paper presents an analysis of existing approaches and data models for factory simulation description. These approaches allow data exchange between single simulation models, but do not provide dynamic coupling and model generation, and often cannot include all relevant information for the factory simulation. To achieve a continuous and comprehensive factory simulation, a concept for a metamodel for factory simulation description is outlined. Its goal is not only to describe a skeleton of the factory and provide simulation coupling and data exchange but also to provide a dynamic model generation. © 2020 IEEE.

关键词： Electronic data interchange

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Predicting coupling signals in a material flow real-time co-simulation with a Kalman filter 13

Predicting coupling signals in a material flow real-time co-...

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13th CIRP Conference on Intelligent Computation in Manufacturing engineering, CIRP ICME 2019

作者： Kienzlen, Annika Scheifele, Christian Verl, Alexander University of Stuttgart Institute for Control Engineering of Machine Tools and Manufacturing Units Seidenstr. 36 Stuttgart70174 Germany

A hardware-in-the-loop simulation has to use the control cycle as simulation clock. This time-deterministic clocking can be difficult to meet for complex behavior models in a real-time simulation. To accelerate a real-time simulation, the calculation can be parallelized by co-simulation whereby multiple, differently detailed behavior models can be simulated parallelly. In these multi-scale models, a slower, detailed model guides a fast, abstract model. In this work, a Kalman filter is examined as a multi-rate method to predict the signals of a physical-based model for a material flow simulation in real-time. To improve the results, smoothing and boundary conditions are added. © 2020 The Authors.

关键词： Kalman filters

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Automatic synthesis of a saturating state space controller based on convex optimization for industrial robots 52

Automatic synthesis of a saturating state space controller b...

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52nd International Symposium on Robotics, ISR 2020

作者： Halt, Lorenz Pott, Andreas Fraunhofer Institute for Manufacturing Engineering and Automation IPA Stuttgart70569 Germany Institute for Control Engineering of Machine Tools and Manufacturing Units Stuttgart70174 Germany

ISBN: (纸本)9783800754298

Robotic control needs to be optimal if it is to stay competitive in industrial production scenarios. However, highly tweaked controllers cannot directly transfer from one robot setup to another. Thus, the controllers must be automatically generated concerning their use in specific production processes. This paper presents an automatic synthesis of an almost timeoptimal model-based saturating state space controller. The control parameters are derived from the solution of a convex optimization problem. The approach complements previous work of transferable skill-based programming for robotic assembly in particular. This paper introduces the problem formulation, exercises the optimization on a task space controlled industrial robot, and finally evaluates it in simulation and compares experimental results with a state-of-the-art industrial robot controller. © 2020 VDE Verlag GMBH.

关键词： Industrial robots

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Graph-based Data Model for Assembly-Specific Capability Description for Fully Automated Assembly Line Design 2

Graph-based Data Model for Assembly-Specific Capability Desc...

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2nd IEEE Eurasia Conference on IOT, Communication and engineering, ECICE 2020

作者： Brovkina, Daniella Riedel, Oliver Stuttgart70569 Germany The Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart70174 Germany

ISBN: (纸本)9781728180601

Assembly systems are an essential component of industrial production. However, due to a lack of tools for decision-making support, these systems are usually planned and designed manually or with a low degree of automation. In this paper, a data model and a fully automated system for the design of assembly lines in the context of Model-based System engineering (MBSE) are presented. This system uses a graph-based description of the product and production capabilities, matches the product requirements to the available capabilities and resources, and enables an appropriate design generation using the Model-in-the-Loop and Software-in-the-Loop simulations. Explicit semantics and high flexibility of the graph-based data model allow a fine-grained description of the highly complex system. A particular focus is on the assembly-specific capability and product description, and generalizability of assembly systems through the use of the presented data model. For the data model evaluation, several scenarios are presented, where the production capabilities are being matched to a product description to form a logic assembly line structure. © 2020 IEEE.

关键词： Assembly

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