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SICE Annual Conference

作者： Yoshiyuki Noda Markus Birkhold Kazuhiko Terashima Oliver Sawodny Alexander Verl Department of Mechanical Engineering Toyohashi University of Technology Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University Stuttgart Institute for System Dynamics (ISYS) University Stuttgart

ISBN: (纸本)9784907764388

We describe here a method for estimating the pouring flow rate for tilting-ladle-type automatic pouring robot used in casting industries. To precisely pour molten metal into the mold, controlling the flow rate of liquid flowing out of the ladle is mandatory. However, it is difficult to directly measure the pouring flow rate by using a conventional flow meter, because the flow meter is damaged by the high temperature molten metal. Therefore, in this study, we used a soft sensing technique as part of the pouring flow rate estimation system. The extended Kalman filter was applied to the flow rate estimation of the automatic pouring robot in previous study. The previous approach can be applied only the ladle with smooth shape, because of derivation of Jacobian matrix. However, some ladles with complicated shape which the Jacobian matrix cannot be derived have been used in an actual casting plant. In this paper, an unscented Kalman filter which does not need the Jacobian matrix is applied into the flow rate estimation. The effectiveness of the proposed flow rate estimation method is demonstrated through simulations and experiments.

关键词： Automatic pouring robot Unscented Kalman filter Flow rate estimation Foundry equipment

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ADAPTRONIC PRECISION POSITIONING TECHNOLOGY

ADAPTRONIC PRECISION POSITIONING TECHNOLOGY

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20th Reliability, Stress Analysis, and Failure Prevention Conference

作者： Pahlke, Achim Rosen, Simon Kaestner, Markus Moehring, Hans-Christian Reithmeier, Eduard Denkena, Berend Institute of Measurement and Automatic Control Hannover Germany Institute of Production Engineering and Machine Tools Hannover Germany

ISBN: (纸本)9780791849002

The adaptronic precision positioning technology is applied to the fitting of rotation-symmetric components such as gearwheels in a hard turning process in order to compensate eccentricity. Distorted gearwheels, showing e.g. a significant quench distortion, cause a malposition in the chuck during clamping. This malposition leads to low quality workpieces or scrap in the hard turning process. To compensate the malposition of the workpieces, a new technology for precision positioning within the rotating chuck is being researched. In the introduction, the motivation of the preceding research project "Allowance-oriented precision positioning" and the framework of the adaptronic precision positioning technology are summarized. Next part is the description of the system's components, beginning with the principles and the redesign of the mechatronic chuck. Completing the adaptronic precision positioning technology, the optical metrology, the data processing and automation aspects are shown in the following part. Afterwards, a short summary concludes this paper.

关键词： Clearances (engineering) Rotation Metrology Turning Fittings

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Enhancements of force-torque map based assembly applied to parallel robots

Enhancements of force-torque map based assembly applied to p...

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IEEE-ICIT 2010 International Conference on Industrial Technology, ICIT 2010

作者： Dietrich, Franz Wobbe, Frank Buchholz, Dirk Sowinski, Frank Raatz, Annika Schumacher, Walter Wahl, Friedrich M. Institute of Machine Tools and Production Technology Technische Universität Braunschweig 38106 Braunschweig Germany Institute of Control Engineering Technische Universität Braunschweig 38106 Braunschweig Germany Institute for Robotics and Process Control Technische Universität Braunschweig 38106 Braunschweig Germany

ISBN: (纸本)9781424456970

This article presents the application and enhancements of assembly strategies using force-torque maps in view of parallel robots. Starting from classical assembly strategies the fundamentals of force-torque maps are briefly discussed. Taking up the core idea, a strategy for assembling objects by parallel robots is proposed, where frictional effects are reduced by an enhanced force and position control. Special attention is paid to acquisition of force-torque maps with respect to parameter sensitivity. Practical issues are pointed out and discussed in view of industrial applications. A quality assessment of force-torque maps based on a redundancy index is introduced hinting at the performance and possibilities of optimization of the assembly strategy. ©2010 IEEE.

关键词： Position control

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Enhancements of force-torque map based assembly applied to parallel robots

Enhancements of force-torque map based assembly applied to p...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Franz Dietrich Frank Wobbe Dirk Buchholz Frank Sowinski Annika Raatz Walter Schumacher Friedrich M. Wahl Institute of Machine Tools and Production Technology Technische Universitäat Braunschweig Brunswick Germany Institute of Control Engineering Technische Universitäat Braunschweig Brunswick Germany Institute of Robotics and Process Control Technische Universitäat Braunschweig Brunswick Germany

ISBN: (纸本)9781424456956

关键词： Robotic assembly Parallel robots Robustness Position control Uncertainty Collaboration Kinematics Robot programming Force control Quality assessment

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Implementation of a new communication system for reconfigurable mechatronic modules

Implementation of a new communication system for reconfigura...

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International Asia Conference on Informatics in control, Automation and Robotics, CAR

作者： Dongsheng Yang Alexander Verl Stefan Schmitz Karl-Heinz Wurst School of Mechanical Engineering and Automation Beijing Aeronautics and Astronautics University Beijing China Institute of Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Stuttgart Germany

ISBN: (纸本)9781424451920;9781424451937

This paper presents the analysis and implementation of a new communication system, which uses the DC link cable as a communication channel to reduce electrical interfaces and save cables. The channel characteristics are investigated to determine the carrier frequency and the bandwidth. To deal with the disturbance and signal fading, coded Orthogonal Frequency Division Multiplex (OFDM) is used as means of modulation/demodulation. A field test system is established. The test results show that it achieves a high performance with regard to the industrial standards.

关键词： Mechatronics Communication cables Communication channels Bandwidth Fading Frequency division multiplexing Modulation coding OFDM modulation Demodulation System testing

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On contact models for assembly tasks: Experimental investigation beyond the peg-in-hole problem on the example of force-torque maps

On contact models for assembly tasks: Experimental investiga...

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2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Franz Dietrich Dirk Buchholz Frank Wobbe Frank Sowinski Annika Raatz Walter Schumacher Friedrich M. Wahl Institute of Machine Tools and Production Technology Technische Universitäat Braunschweig Brunswick Germany Institut für Robotik und Prozess informatik Technische Universitäat Braunschweig Brunswick Germany Institute of Control Engineering Technische Universitäat Braunschweig Brunswick Germany

Force guided assembly is attractive but the implementation is challenging when uncertainties are present. In these cases, contact models that guide the assembly process are attractive. This article elaborates the usage of static contact models, which map displacements to force-torque vectors of particular contact situations (force-torque map). This model, a map of discrete points, contains force and torque values that correspond to position errors. The inversion of this map, using forces and torques measured from an assembly attempt, yields correction movements in order to accomplish the assembly iteratively. A hypothesis stating the dependency of the model's quality on its injectivity is investigated. This aspect is studied thoroughly in so-called redundancy maps, which reveal regions of considerable ambiguity of the model. Experimental results are presented, which validate the hypothesis about the dependency of the convergence of the assembly process on the ambiguity of the initial position. In addition to the peg-in-hole problem, which has become a standard scenario to validate force guided assembly, the scope of this article also covers force guided assembly of more complex parts. Here, the analysis gives evidence to believe that it is unlikely that the implementation convergences acceptably, which is validated by experimental results.

关键词： Assembly Redundancy Force Torque Sensors Force measurement Robots

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Real-Time Computation of the System Behaviour of Lightweight machines

Real-Time Computation of the System Behaviour of Lightweight...

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International Conference on Advances in System Simulation, SIMUL

作者： Peter Sekler Alexander Verl Institute of Control Engineering of Machine Tools and Manufacturing Units Stuttgart Germany

Lightweight design of production machines results in a problematically high inclination of vibration. Existing control techniques can avoid those vibrations based on the knowledge of the instantaneous system behavior, which is highly non-linear and dependent on the machine's pose. One possibility is to calculate the machine behavior using a model of the machine on the control device. This requires a real-time capable algorithm of system behavior identification calculated within the control device cycle. In this paper we describe a new approach for model-based system behavior calculation in real- time on the control device.

关键词： Real time systems Web server Load management Resource management Service oriented architecture Quality of service Petri nets Internet Computer architecture Formal specifications

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Prediction of Machining Induced Residual Stresses in Aluminium Alloys Using a Hierarchical Data-Driven Fuzzy Modelling Approach

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IFAC Proceedings Volumes 2009年第23期42卷 231-236页

作者： Qian Zhang Mahdi Mahfouf Luis de Leon Soufiene Boumaiza John R. Yates Christophe Pinna Richard J. Greene Department of Automatic Control and Systems Engineering The University of Sheffield Sheffield S1 3JD UK Institute of Production Engineering and Machine Tools Leibniz University Hannover Germany Department of Mechanical Engineering The University of Sheffield Sheffield S1 3JD UK

The residual stresses created during shaping and machining play an important role in determining the integrity and durability of metal components. An important aspect of making safety critical components is to determine the machining parameters that create compressive surface stresses, or at least minimise tensile surface stresses. These machining parameters are usually found by trial and error experimentation backed up by limited numerical modelling using Finite Element Methods (FEM) and guided by expert knowledge. The shortcomings of FEM approaches are the length of time needed for the solution of complex models and the inability to learn from data. To solve these problems, a fuzzy modelling approach is presented in this paper and is shown to be successful in modelling machining induced residual stresses.

关键词： Data-Driven Modelling Fuzzy Modelling Mamdani Fuzzy Systems Model Approximation Learning Systems Prediction Problems Residual Stress Machining Aluminium Alloys

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Design of a device for the high-fidelity haptic rendering of rotatory car doors

Design of a device for the high-fidelity haptic rendering of...

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Conference on Human System Interactions, HSI

作者： Michael Strolz Claudia Ehinger Martin Buss Institute of Automatic Control Engineering Department of Electrical Engineering and Information Technology Technische Universität Munich Germany Institute of Machine Tools and Industrial Management Department of Mechanical Engineering Technische Universität Munich Germany Technische Universitat Munchen Munchen Bayern DE

To enable a realistic virtual prototyping of both actuated and unactuated rotatory car doors, a dedicated haptic device is developed. A fundamental issue is the derivation of the specific requirements for this interface, which is done based on knowledge of the typical user interaction with a car door and a comprehensive model of the dynamics of an actuated as well as an unactuated car door. The findings are that the device should only exhibit one rotatory degree-of-freedom, which should be actuated by a direct drive with a high torque output (ges 100 Nm) and very high position resolution (ges 16 Bit). A suitable direct-drive is selected and combined with other elements to form a backlash-free, very stiff haptic device. Due to both force and acceleration sensing, it can serve for the haptic rendering of actuated as well as unactuated car doors. Furthermore, a thorough safety scheme ensures a safe operation of the human-system-interaction.

关键词： Haptic interfaces Virtual prototyping Actuators Displays Vehicle dynamics Acceleration Prototypes Virtual reality Rendering (computer graphics) Torque

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In-Process measurement and positioning of precisionforged gear shafts in 4 dof 10

In-Process measurement and positioning of precisionforged ge...

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10th Anniversary International Conference of the European Society for Precision engineering and Nanotechnology, EUSPEN 2008

作者： Denkena, B. Immel, J. Gillhaus, R. Seewig, J. Reithmeier, E. Leibniz Universitaet Hannover Institute of Production Engineering and Machine Tools An der Universitaet 2 30823 Garbsen Germany Leibniz Universitaet Hannover Institute of Measurement and Automatic Control Nienburger Straße 17 30167 Hannover Germany

ISBN: (纸本)9780955308253

The application of high precision measurement devices in combination with mechatronic positioning chucks provides for enormous progression in production technology. In the collaborative research centre 489 which is funded by the German Research Foundation (DFG) the precision forging of highly loaded components is researched. The workpiece under examination is a gear shaft. Due to the minimum stock of only 30 to 80 microns the workpiece has to be precisely aligned before hard machining of the function elements. Therefore, two sensors in combination with a newly designed precision positioning chuck with integrated piezo actuators have been directly integrated into the machine tool. Due to the ability to measure steep angles, conoscopic sensors have been selected to ensure a reliable measurement of the toothing. After clamping the workpiece the profiles of the function elements are measured in several sections. With the help of specially adapted best-fit algorithms a three-dimensional vector is calculated. This vector contains the necessary adjustment information to relocate the workpiece and put it into the optimal position for machining. Communication with the new chuck is based on wireless technology (Bluetooth). Chuck integrated piezoactuators position the workpiece in 4 DOF. Among those, 2 DOF are used for a compensation of the eccentricity and the remaining 2 DOF correct the inclination. Thus, a complete alignment of the workpiece to the axis of rotation is accomplished.

关键词： Chucks

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