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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 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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Holistic Ontology-Based Assistance System for Efficient Process Model Parameter Identification

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Journal of Computational engineering 2015年第1期2015卷

作者： Burkhard Hensel Thomas Wagner André Gellrich Klaus Kabitzsch Bernd Kauschinger Chair for Technical Information Systems Dresden University of Technology 01062 Dresden Germanytu-dresden.de Institute of Machine Tools and Control Engineering Dresden University of Technology 01062 Dresden Germanytu-dresden.de

Accurate models of technical systems are the basis for many tasks like system analysis, predictions, or controller design. Usually, the values of several important parameters cannot be determined by theoretical analysis only; instead, process identification is necessary. For several applications, the efficiency of the identification procedure is very important, for example, for the creation of thermal models of machine tools, because of the large time constants and the expensive machine time. The goal of the authors is the support of this task as far as possible by software. This paper contributes to that goal twofold: on the one hand, it provides a collection of influences which have to be considered for supporting the identification procedure. On the other hand, concepts for computer-based support are presented—ontologies and automatic design methods based on evolutionary algorithms.

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Extending Energy Value Stream Models by the TBS Dimension – Applied on a Multi Product Process Chain in the Railway Industry

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Procedia CIRP 2014年 15卷 80-85页

作者： G. Posselt J. Fischer T. Heinemann S. Thiede S. Alvandi N. Weinert S. Kara C. Herrmann Sustainable Manufacturing and Life Cycle Engineering Research Group Institute of Machine Tools and Production Technology (IWF) Technische Universität Braunschweig Germany Joint German-Australian Research Group in Sustainable Manufacturing and Life Cycle Management Siemens AG Corporate Technology Systems Engineering Munich Germany Sustainable Manufacturing & Life Cycle Engineering Research Group The University of New South Wales (UNSW) Australia

Energy value stream analysis is used to quickly evaluate the energetic performance of process chains within continuous improvement processes in production companies. Existing approaches focus mainly on capturing and allocation of direct energy demands induced by production machines. However, most approaches lack the holistic perspective, leading to neglect huge parts of the indirect energy demands, caused by the technical building services which are vital to maintain the production conditions. This paper presents an extended approach, targeting to fully distribute indirect energy demands upon specific entities of the value stream by presenting systematic allocation rules, which cause-dependently break down peripheral energy demands.

关键词： Indirect energy allocation rules TBS energy value stream energy transparency energy management continuous improvement rail industry

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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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Investigations of a small machine tool with CFRP-frame 13

Investigations of a small machine tool with CFRP-frame

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13th International Conference of the European Society for Precision engineering and Nanotechnology, EUSPEN 2013

作者： Hoffmeister, H.-W. Gerdes, A. Verl, A. Wurst, K.-H. Heinze, T. Batke, C. TU Braunschweig Institute of Machine Tools and Production Technology Braunschweig Germany Universität Stuttgart Institute for Control Engineering of Machine Tools and Manufacturing Units Stuttgart Germany

ISBN: (纸本)9780956679024

Experimental investigations regarding energy consumption in cooperative mode show a reduction of kinetic energy of about 50 %. However the power consumption increases in cooperative mode due to necessary additional drive and electric losses. Numerical Results show a maximum thermal deformation of 5 μm of the test workpiece due to the clamping process. The CFRP-frame shows a high stiffness and low dynamic magnitudes and is suitable for use as machine tool frame also due to its thermal stability and subsequently higher precision of the machine tool.

关键词： machine tool kinetic energy Power consumption Electric losses energy consumption

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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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Integrated object and path demonstration for industrial robots in adaptive handling applications

Integrated object and path demonstration for industrial robo...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： C. F. Wu S. K. Lin J. Lambrecht T. D. Nguyen A. Vick M. Kleinsorge J. Krüger Division of Intelligent System Engineering Industrial Technology Research Institute Mechanical and Systems Research Laboratory Hsinchu Taiwan National Chiao Tung University Institute of Electrical Control Engineering Hsinchu Department Industrial Automation Technology Technische Universität Berlin Insitute for Machine Tools and Factory Management Berlin Germany

We propose an approach for integrated object and path demonstration. The main idea is to choose the motion of the robot depending on the object it grabs. When programming, an object is fixed at the robot's gripper. Path programming is done using haptic guidance. Afterwards, if a robot is handed over an object it knows before, it reproduces the path assigned to the object. Path programming and object recognition can be done with a single force/torque sensor. In our opinion, this way of programming is especially suited for creating pick and place tasks in frequently changing production environments where (re-)programming has to be done frequently.

关键词： Robot sensing systems Programming Service robots Force Grippers Training

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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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