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

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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Model Predictive control for Force control in Milling

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IFAC-PapersOnLine 2017年第1期50卷 15871-15876页

作者： Stemmler, S. Abel, D. Schwenzer, M. Adams, O. Klocke, F. Institute of Automatic Control RWTH Aachen University Aachen52056 Germany Laboratory for Machine Tools and Production Engineering RWTH Aachen University Aachen52056 Germany

Milling is one of the most flexible and productive manufacturing processes for machining metals. In the case of rough milling as much material as possible should be removed in as little time as possible. Therefore, a high cutting force is desirable. The maximum force is thus a suitable control variable to reduce the manufacturing time. The cutting force is related to the feed velocity. The relationship can be described by force models. They in turn can be used to determine the maximum feed velocity for a given force. This maximum feed velocity can be used as a reference, which shall not be exceeded. Hence, a Model-based Predictive controller (MPC) manipulates the desired feed velocity of the machine with respect to the machine behavior. This MPC shows good performance in the case of feed velocity references in time-domain. Though, the feed velocity reference depends on the position of the cutting tool through the workpiece. Hence, an approach shall be described which enables force control in position-domain. Therefore, the existing MPC is extended to a 2-Layer-MPC. An additional MPC works as a reference generator transforming the reference in position-domain into time-domain. Furthermore, an approach is described which allows position dependent feed velocity control without an additional MPC. Finally, the presented approaches are implemented and validated on a real machining center. © 2017

关键词： Model predictive control Cutting Cutting tools Force control Manufacture Milling (machining) Predictive control systems Velocity 2 Layer MPC Manufacturing process Model based controls Model based predictive controller Position dependents Predictive control Production system Reference generator

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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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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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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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End-to-end Redundancy between Real-time I4.0 Components based on Time-Sensitive Networking

End-to-end Redundancy between Real-time I4.0 Components base...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

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

To increase the changeability of future production systems, assets have to provide a standardized representation of their capabilities. Therefore, the concept of I4.0 components was developed, which describes assets with an asset administration shell providing a self-description. Real-time I4.0 components, like safety critical systems or motion control applications, require a deterministic communication with bounded low latency. Moreover, they demand for redundant connections to achieve fault tolerance with respect to the network infrastructure and the components. The integration of redundancy mechanisms in realtime I4.0 components requires additional implementation and configuration effort, which has not been covered in detail yet. In this work, we extend the concept of asset administration shells to configure end-to-end redundancy between real-time I4.0 components. Thereby, we apply the new real-time communication technology Time-Sensitive Networking (TSN) with focus on the standard IEEE 802.1CB. Finally, we evaluate the performance of the redundancy implementation in terms of the transmission offset between the primary frame and its duplicate.

关键词： Real-time systems Redundancy Protocols Fault tolerant systems Standards Network interfaces

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On achieving accuracy and efficiency in Additive Manufacturing: Requirements on a hybrid CAM system

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Procedia CIRP 2018年 72卷 1512-1517页

作者： Anja Elser Michael Königs Alexander Verl Michael Servos Institute for Control Engineering of Machine Tools and Manufacturing Units Seidenstraße 36 70174 Stuttgart Germany Forschungsvereinigung Programmiersprachen für Fertigungseinrichtungen e.V. Theaterstraße 12 52062 Aachen Germany

The potential of additive manufacturing is increasingly investigated with regard to an application in combination with milling processes. However, for an economical use of this hybrid method, workpieces must be produced cost-efficiently and at the same time meet high quality requirements. In this paper, a combination of additive and subtractive technologies is presented, by which the demanded accuracies can be achieved. To further decrease currently high planning efforts, an existing CAM system is extended by modules for creating additional additive manufacturing steps. In this context, requirements for such a hybrid CAM system and its realization are derived and presented.

关键词： Additive Manufacturing hybrid CAM path planning preprocessing hybrid manufacturing

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machines without humans—post-robotics 3

Machines without humans—post-robotics

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3rd International Conference on Robophilosophy 2018 / Transor 2018: Envisioning Robots in Society - Politics, Power, and Public Space

作者： Klein, Maike Hoher, Simon Kimpeler, Simone Lehner, Maximilian Jaensch, Florian KÜHFUß, Fabian Lehmann, Hagen Snelting, Femke Institute of Philosophy University of Stuttgart Germany Information Technologies and Systems Management University of Applied Sciences Salzburg Austria Competence Center Foresight Fraunhofer Institute for Systems and Innovation Research Austria Institute of Contemporary Arts and Media KU Linz Austria Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Germany Freie Kunstakademie Nürtingen Germany Heriot-Watt University United Kingdom Constant United States

ISBN: (纸本)9781614999300

Debates around robots, both scientific and non-scientific, mostly put the human being in their focus. This is important and necessary to produce machines that humans can operate and interact with, and to do responsible research. We think, however, that the phenomenon of robots, and generally machines, is only fully comprehensible if we, the observers, step back and try to understand machines from another, unusual perspective: the machines themselves. © 2018 The authors and IOS Press. All rights reserved.

关键词： Human robot interaction

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Challenges and requirements for the safety compliant operation of reconfigurable manufacturing systems

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Procedia CIRP 2018年 72卷 1100-1105页

作者： C.H. Koo M. Vorderer S. Junker S. Schröck A. Verl Corporate Sector Research and Advanced Engineering Robert Bosch GmbH Robert-Bosch-Campus 1 71272 Renningen Germany Institute for Control Engineering of Machine Tools and Manufacturing Systems (ISW) Univerity Stuttgart Seidenstraße 36 70174 Stuttgart Germany

Reconfigurable machinery systems challenge state-of-the-art engineering processes, especially towards safe design, documentation and operation. Assessments done manually by safety engineers are required after each reconfiguration and reduce the advantages of these agile systems. New approaches are needed to reduce the engineering effort in order to satisfy the demands caused by frequent changes of reconfigurable machinery. This paper analyzes today’s safety related processes, examines safety requirements and challenges, studies existing approaches from academia and proposes a concept for future safety approval processes in accordance to EC directives.

关键词： safety engineering reconfigurable manufacturing system challenges requirements risk assessment automated assessment system

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