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4th IEEE Eurasia Conference on IoT, Communication and engineering, ECICE 2022

作者： Strljic, Matthias Milan Younes, Islam Riedel, Oliver University of Stuttgart Institute for Control Engineering of Machine Tools and Manufacturing Units Stuttgart Germany

ISBN: (纸本)9781665482080

Additive manufacturing technologies provided one of the most adaptable manufacturing processes for digital commissioning via the growing cloud manufacturing paradigm. This was facilitated by a low-complexity tool chain for the manufacturing process along the CAD-CAM chain and the process to be executed on the equipment. However, additive processes have grown far beyond the initial FDM processes and also offer more complex materials with unique properties in addition to other processes. The four most common manufacturing processes FDM, SLA, SLS, and SLM were used as a basis, and existing cloud manufacturing platforms offering all these four technologies as a bundle were gathered via a structured survey. Out of 42 platforms, 17 platforms were researched, filtered and analyzed using sample components and a catalog of requirements consisting of five requirement clusters: material, functional scope, final costs, delivery and user-friendliness. The results were weighted for each technology and finally evaluated in an overarching discussion. The achieved scores and the special features of a platform are discussed and a recommendation is made. © 2022 IEEE.

关键词： 3D printing

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A Nonlinear Elasticity Model and Feedforward Compensation Method to Increase Positioning Accuracy of Industrial Robots

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IEEE Transactions on Automation Science and engineering 2025年

作者： Dzubba, Marcel Neubauer, Michael Hinze, Christoph Lechler, Armin Verl, Alexander University of Stuttgart Institute for Control Engineering of Machine Tools and Manufacturing Units Stuttgart70174 Germany

Large industrial robots are inexpensive compared to their workspace. Due to flexibility, the positioning accuracy is compromised. This paper presents a simple yet effective static calibration method for robots using a laser tracker that can be applied to processes with no change in external load and without high processing forces. The calibration method is based on a novel elastokinematic model that captures the nonlinear gearbox and link compliance and also accounts for the effects of pose dependent joint friction and nonlinearities due to the gravity compensation mechanism. Furthermore, a feedforward concept is presented that separates kinematics from compliance to reduce computation time. The calibration method was implemented on industrial hardware and experimentally validated on a KUKA KR210–2. In comparison to state of the art compliance modeling, accuracy is improved by 23.1 %. Finally, the feedforward model reduces the mean positioning error in the entire workspace by 54.9% compared to the purely kinematically calibrated model, emphasizing the need for compliance compensation. © 2004-2012 IEEE.

关键词： Kinematics

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Modelling of a Dual-Motor Robotic Drive with Estimation, Preload, and Guidance of Backlash 56

Modelling of a Dual-Motor Robotic Drive with Estimation, Pre...

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56th International Symposium on Robotics, ISR Europe 2023

作者： Kaiser, Benedikt Schäfer, Adrian Schütz, Andreas Parspour, Nejila Lechler, Armin Verl, Alexander Institute of Electical Energy Conversion University of Stuttgart Stuttgart70569 Germany Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart70569 Germany

ISBN: (纸本)9783800761418

The dynamic behavior regarding gearing backlash is investigated for the application as a joint-drive in an articulated industrial robot equipped with a milling spindle. A dual-motor capable of electrical preload of drive train is presented and a lumped parameter model of dynamics is derived. The equations are presented as a switching state-space system depending on the contact state of backlash play. Based on the system description, an estimator is developed in order to obtain information about current backlash position. During a passage of backlash, caused by a change of torque, the adaptive preload control law according to the state of the art is not capable of improving dynamics resulting from the impact of closing the backlash gap. An additional guidance control is presented and implemented ensuring a smooth transition. The proposed design is validated by a dynamic simulation demonstrating the functionality and improvement of dynamics. © VDE VERLAG GMBH Berlin Offenbach.

关键词： Backlash Dual-Motor Dynamic Model Estimation Milling Preload Robotic Actuator Robotic Powertrain Robotics

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Cloud vs. peer-to-peer manufacturing: a comparative case study

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Procedia CIRP 2023年 119卷 993-998页

作者： Carsten Ellwein Björn Alexander Jainczyk Oliver Riedel Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany

Cloud Manufacturing (CM) applies the concept of manufacturing-as-a-service and offers access to production resources over web-based platforms. Besides centralized CM platforms, the manufacturing-as-a-service principle has been proposed to be integrated in production planning and control systems, creating a decentralized peer-to-peer (P2P) manufacturing paradigma. This paper applies the case study methodology to deduce procurement processes via cloud or P2P manufacturing and to compare them in regard of cost, quality and time. It can be shown that decentralized approaches can outperform centralized CM implementations and that a higher degree of integration into the office floor is mostly beneficial.

关键词： Cloud Manufacturing Peer-to-Peer-Manufacturing Enterprise Resource Planning Production Planning and control

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Remote Power control and Monitoring of Cross-Platform Devices Using Magic Packets Across Network Boundaries

Remote Power Control and Monitoring of Cross-Platform Device...

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On-Line Conference (ONCON), Industrial Electronics Society Annual

作者： Christian von Arnim Evelyn Dalkowski Tobias Bodamer Ziya Selim Carsten Ellwein Andreas Wortmann Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Germany

ISBN: (数字)9798331540319

ISBN: (纸本)9798331540326

This paper compares online device discovery and remote startup and shutdown solutions for an enterprise network. As some of for these solutions do only work in a local network and the enterprise network consists of several subnetworks with different firewalls setting, a concept to communicate securely across subnetworks is required. For an evaluation, a prototype is implemented using Wake-on-Lan for startup, Address Resolution Protocol for online detection and Secure Shell for shutting down. Bridged MQTT-brokers are used to communicate across subnetwork with a service in every subnetwork. The central hosted prototype is able to switch on or off computers remotely in every subnetwork.

关键词： Industrial electronics Computers Protocols Firewalls (computing) Power control Prototypes Switches Monitoring

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Interoperable Digital Product Passports: An Event-Based Approach to Aggregate Production Data to Improve Sustainability and Transparency in the Manufacturing Industry

Interoperable Digital Product Passports: An Event-Based Appr...

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IEEE/SICE International Symposium on System Integration

作者： Samed Ajdinović Matthias Strljic Armin Lechler Oliver Riedel Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Germany

The manufacturing industry is increasingly focused on sustainability, requiring greater product transparency to meet sustainability targets. Digital Product Passports (DPPs) have emerged as a potential solution to improve recyclability and inform consumer purchasing decisions. However, there is a lack of methodology and digital representation for building DPPs, which hinders data linkage and sharing. In this paper, we propose an approach based on standardised data models and event sourcing to aggregate production data, using energy consumption as an example. We present a concept that captures and stores process information using event sourcing in Asset Administration Shells (AAS), and evaluate its feasibility through a manufacturing demonstrator. The results show that event-based aggregation facilitates the creation of DPPs, allowing different actors in the value chain to participate in an interoperable way. By leveraging a standardised and interoperable common data space, this approach improves product transparency, promotes recyclability and enables informed consumer choice in line with sustainability goals.

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Automated workflow generation supporting the value stream design of reconfigurable robot assembly cells 34

Automated workflow generation supporting the value stream de...

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34th CIRP Design Conference, CIRP 2024

作者： Ungen, Marc Kampert, David Feldotto, Benedikt Huber, Elias Riedel, Oliver Robert Bosch GmbH Robert-Bosch-Campus 1 Renningen71272 Germany Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Seidenstr.36 Stuttgart70174 Germany

The paper addresses the automated generation of value stream optimized assembly workflows for reconfigurable robot cells. The focus is on the generation of asynchronous concurrent action workflows from assembly task descriptions. The main motivation is to enable automated search for optimized solutions within the enormous design spaces of these systems which results from their structural and procedural configurability. The proposed approach conducts task assignment, task sequencing and logical task planning (AI Planning) for multiple agents. The approach combines existing methods from the distinct research fields of robot task sequencing and discrete task planning. The contribution of the research is twofold. Firstly, the paper proposes a generic domain meta model enabling automated workflow generation for multi-agent assembly tasks. Secondly, a workflow generation approach based on artificial intelligence planning combined with the game-theoretic concept of extensive form games is presented. The approach iteratively generates a cooperative strategy for acting agents which is subsequently optimized in terms of individual strategies. The obtained logical action plans are further transformed into parametric concurrent action schedules to support downstream design activities. Both the meta model and the workflow generation approach are applied in a case study and provide valuable information on achievable assembly speedup. © 2024 The Authors. Published by Elsevier B.V.

关键词： Robotic assembly

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Properties of a Double Nut Ball Screw with a Passive Spring-Loaded Mechanism for Preload Adjustment

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Procedia CIRP 2024年 130卷 1832-1837页

作者： Oliver Jud Lukas Steinle Armin Lechler Alexander Verl University of Stuttgart Institute for Control Engineering of Machine Tools and Manufacturing Units Seidenstr. 36 70174 Stuttgart Germany

Preloaded ball screws are the preferred choice for high-precision linear motion of feed axes in machine tools. In order to compensate for the loss of preload over the service life and to maintain the typical operating characteristics such as zero backlash and high rigidity, ball screw drives are commonly provided with an excessively high initial preload. However, this leads to increased wear and friction. In this paper, an approach for a spring-loaded mechanism for automatic preload adjustment is presented and investigated in order to keep the required preload approximately constant during operation over the entire service life.

关键词： machine tools Ball Screw Drives (BSDs) Preload Adjustment

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Towards Efficient Real-Time Model Adaption for Online Simulation at machine Level 2

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

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2nd International Conference on Intelligent control and Computing, IC-C 2024

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

ISBN: (纸本)9798350351873

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. © 2024 IEEE.

关键词： Smart manufacturing

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Automated Manufacturing Toolchain using Skill-based Digital Twins

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Procedia CIRP 2024年 128卷 923-928页

作者： David Dietrich Michael Neubauer Armin Lechler Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Seidenstr. 36 70174 Stuttgart Germany

Digital twins with a skill-based description are increasingly finding their way into industrial production. Their models link properties of a product with available process capabilities that are realized by resource skills. A matchmaking derives capable resources, e.g. for modular assembly systems. For capability-based planning in manufacturing, integration with computer-aided design (CAD) and computer-aided manufacturing (CAM) programs is missing. This paper presents an automated toolchain with focus on subtractive manufacturing using skill-based digital twins. Product-Process-Resource (PPR) models are used and enriched with subtractive manufacturing information and further relations. A configurator allows the design of the individual digital product twin, which can synchronously be generated as a 3D model using a CAD service. Necessary subtractive manufacturing steps including capable resources are then determined in a planning environment and fed into the CAM system. This allows an individual generation of machining code based on PPR information, which can be validated on a simulation model. The result is an automated tool chain of different software services, which are composed by a common description of the PPR model and the software services themselves. By defined models and interfaces the toolchain is not restricted to subtractive manufacturing but enables the integration of computer-aided everything (CAx) services.

关键词： Skill-based manufacturing Digital twins Design methodology tools technologies

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