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Mass Loss and Displacement Modeling for Multi-Axis Milling

Procedia CIRP 2023年 120卷 1534-1539页

作者： Adrian Karl Rüppel Patrick Ochudlo Mathias Bickel Sebastian Stemmler Thomas Bergs Dirk Abel Laboratory for Machine Tools and Production Engineering (WZL) RWTH Aachen University Campus-Boulevard 30 52074 Aachen Germany Institute of Automatic Control (IRT) RWTH Aachen University Campus-Boulevard 30 52074 Aachen Germany Fraunhofer Institute for Production Technology (IPT) Steinbachstraße 17 52074 Aachen Germany

During the cutting process, material of the workpiece is continuously being removed by the cutting tool, which results in a reduction of mass as well as a displacement in the center of the workpiece mass. When using workpiece sided force sensors, such as table dynamometers, the total mass and the displacement of the center of mass affects the force measurement due to gravitational and inertial effects. The high flexibility of the milling process leads to a complex change of volume and mass and necessitates the consideration of the engagement conditions between tool and workpiece along the tool path in order to estimate changes in mass and center of mass. This paper proposes a method for estimating the mass loss and the displacement of the center of mass during multi-axis milling processes. In this method the tool gets numerically sliced along the tool axis and the workpiece removal for each slice along an arbitrary tool path gets calculated. To validate the mass loss model, experiments in both three-axis milling as well as multi-axis milling processes have been conducted. Since it is difficult to measure the center of mass, validation for the displacement of the center of mass was done by comparison with data extracted from CAD. The results show good agreement between the simulated and measured mass loss using the proposed approach.

关键词： milling mass change center of mass

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Arithmetic Coding for Floating-Points and Elementary Mathematical Functions

Arithmetic Coding for Floating-Points and Elementary Mathema...

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International Conference on System Reliability and Science (ICSRS)

作者： Marc Fischer Oliver Riedel Armin Lechler Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany

ISBN: (纸本)9781665400503

Software-based fault tolerance enables the usage of standard hardware in safety-critical applications. Arithmetic coding is a promising approach for fault tolerance and is already used in the area of production systems. To enable the usage of complex safety functions, e.g. in human-robot collaboration, basic mathematical functions must be supported by the software-based fault-tolerance approach. Thereby, the basic mathematical functions require the full support of floating point values. Therefore, in this paper, we present a methodology to apply arithmetic coding on all types of floating-point functions including the basic mathematical functions. For each type, an example of implementation is shown. To validate our approach, we use the inverse kinematic of a cable robot as an example algorithm where the application of arithmetic coding is done automatically with a source-to-source transformation approach. Fault injection experiments validate the effectiveness of the presented approach.

关键词： Fault tolerance Production systems Fault tolerant systems Kinematics Encoding Safety Registers

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Tracking Branched Deformable Linear Objects With Structure Preserved Registration by Branch-wise Probability Modification

Tracking Branched Deformable Linear Objects With Structure P...

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International Conference on Mechatronics and machine Vision in Practice (M2VIP)

作者： Markus Wnuk Chistoph Hinze Manuel Zürn Qizhen Pan Armin Lechler Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany

ISBN: (纸本)9781665431545

This paper focuses on tracking branched deformable linear objects (DLOs). It proposes a modification to the method of structure preserved registration (SPR) enhancing its capability for tracking DLOs with multiple branches. The modified method is applied to the practical problem of wire harness localization under occlusions. From a series of point clouds obtained by stereo vision, the positions of the individual branches of the wire harness are estimated. It is observed that SPR suffers from incorrect registration of branches in cases where single branches are completely occluded during manipulation, e.g., by a robotic manipulator. Therefore, we propose CAMP, a modified method of SPR, which relies on additional model information about the branched structure to avoid incorrect assignments by introducing branch-wise probability estimates in the underlying Gaussian Mixture Model (GMM). The performance of CAMP and its robustness against occlusion, is evaluated and compared to SPR in practical experiments with a wire harness.

关键词： Point cloud compression Uncertainty Runtime Parameter estimation Mechatronics Wires Object segmentation

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Towards a universal manufacturing node: Requirements for a versatile, laser-based machine tool for highly adaptable manufacturing

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Procedia CIRP 2022年 111卷 816-821页

作者： Michael Jarwitz David Traunecker Christian von Arnim Niklas Müller Steffen Kramer University of Stuttgart Institut fuer Strahlwerkzeuge (IFSW) Pfaffenwaldring 43 70569 Stuttgart Germany University of Stuttgart Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) Seidenstr. 36 70174 Stuttgart Germany University of Stuttgart Institute for Machine Tools (IfW) Holzgartenstr. 17 70174 Stuttgart Germany Karlsruhe Institute of Technology (KIT) wbk Institute of Production Science 76131 Karlsruhe Germany

The current trend in the context of Industry 4.0 towards small batch sizes and increasing product variety results in ever-changing requirements for both, the products and the production. This requires highly versatile, fully and easily adaptable, and efficient manufacturing environments that can meet these demands, ideally already on the level of the machine tool. Because of its versatility, the laser is a promising tool for such a machine tool, but there is still a considerable need for research in the field of system technology. We consider the requirements for a versatile, laser-based machine tool for highly adaptable manufacturing, that utilizes the combination of laser-based manufacturing processes on one machine. The focus of the considerations lies on remote processes and the processing of metals. Five key research topics for the development of such a universal laser manufacturing node are identified: highly dynamic and precise kinematics (1); ‘on-the-fly’ reconfigurable, distributed control architectures (2); adaptable process diagnostics for online quality monitoring (3); technological interactions in laser-based process chains (4); and models for a fast estimation of the process parameters for each production step (5). The relevance and current needs for research for each topic are discussed and corresponding solution concepts are proposed.

关键词： laser-based manufacturing Industry 4.0 versatile machine tool adaptable manufacturing multi-process

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Camera-based Process Monitoring for Powder Bed Additive Manufacturing in Construction

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Procedia CIRP 2022年 107卷 534-539页

作者： Maximilian Nistler Daria Kovaleva Louis Tepper Lucio Blandini Werner Sobek Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Seidenstraße 36 70174 Stuttgart Germany Institute for Lightweight Structures and Conceptual Design (ILEK) University of Stuttgart Pfaffenwaldring 14 70569 Stuttgart Germany

The detection of defects in the production of large-scale components is very important for the productivity of a machine, especially in fow production facilities. An effective approach is proposed to automatically detect insufficient layers in the additive manufacturing process of sand formworks for the construction industry. For this a method is introduced to integrate a camera based quality control into the powder bed binder jetting process. Results show the possibility to reduce reject parts by comparing an image of the current layer geometry to the according CAD model.

关键词： Additive Manufacturing Powder Sand formwork Quality control Image Processing

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Automatic preload adjustment for ball screw drives by means of a spring-loaded mechanism

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CIRP Annals 2025年

作者： A. Verl O. Jud Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Stuttgart Germany

Preloaded ball screw drives are widely used in high-precision linear motion applications, particularly in machine tool feed drives. To compensate for the loss of preload due to wear over the service life and to maintain typical operational characteristics such as zero backlash and high rigidity, ball screws are usually preloaded to high values. However, this results in increased wear and friction, with a consequent increase in temperature. To address these issues, this paper introduces a novel double nut design for ball screws, featuring a passive preload adjustment mechanism, enabling reduced preload levels while enhancing operating characteristics and operational service life.

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Integrative data processing for cyber-physical off-site and on-site construction promoting co-design 31st

Integrative data processing for cyber-physical off-site and ...

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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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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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