检索结果-内蒙古大学图书馆

Multi-level Energy Demand Optimizer System for machine Tool controls

Procedia CIRP 2016年 41卷 783-788页

作者： Jan Schlechtendahl Philipp Eberspächer Philipp Schraml Alexander Verl Eberhard Abele Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) Seidenstraße 36 70174 Stuttgart Germany Institute of Production Management Technology and Machine Tools (PTW) Otto-Berndt-Str. 2 64287 Darmstadt Germany

The need to increase resource and energy efficiency for a sustainable production has led to saving potential analyses and afterwards saving strategies in a multitude of disciplines: product design, supply chain management, process chain design, production process development, energy-optimal machine or component control and even machine tool and component design. Each of those strategies resulted in numerous improvements, however, they still lack reciprocal consideration. To overcome this deficit, a machine-independent energy control system to include any control- or operation-based energy optimizer will be introduced in this paper. It is based on real-time control information from the machine and software-based energy demand optimizers targeting the machining process, the machine tool components control as well as the overlaying production process. The control system itself ensures the correct cooperative operation of the three optimizer types, to enable the much needed reciprocal consideration of the optimizer's effects.

关键词： Energy efficiency Optimization machine Tool

来源：评论

学校读者我要写书评

暂无评论

Cloud-based control for downstream defect reduction in the production of electric motors

Cloud-based control for downstream defect reduction in the p...

引用

International Conference on Electrical Systems for Aircraft, Railway, Ship Propulsion and Road Vehicles & International Transportation Electrification Conference (ESARS-ITEC)

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

ISBN: (纸本)9781509008155

Classical computing is shifted gradually into the cloud, offering completely new possibilities in information usage, computing power and application of learning algorithms. In this paper, a cloud-based architecture of control systems is investigated showing the benefit for multi-stage production systems. All sequential manufacturing and assembly processes are connected via a cloud-based architecture, which allows using information from a previous production step in one of the subsequent steps for downstream deviation compensation. This strategy is applied to the rotor production of electric motors in the automotive industry, as the current production shows high defect rates due to the lack of adequate sensor signals and optimization algorithms. The magnetization process of permanent magnets is executed in saturation, so that the generation of deviations cannot be avoided by process control or process optimization. Instead, the variance in the magnetization signal must be compensated in a downstream process, here the rotor assembly stage. Project results show how such a cloud-based architecture can increase the product quality while decreasing the amount of scrap parts in a real industrial scenario, consequently saving valuable resources like energy and raw materials. Reduction of deviations is crucial for this emerging industrial sector as electric motor production for vehicles is moving towards mass production.

关键词： Cloud computing Rotors Electric motors Production systems Magnetization Optimization

来源：评论

学校读者我要写书评

暂无评论

The control architecture RoViDiAsS — A robotic visual disassembly and assembly system

The control architecture RoViDiAsS — A robotic visual disas...

引用

IEEE International Conference on Industrial Technology (ICIT)

作者： Christian Friedrich Armin Lechler Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Stuttgart Germany

ISBN: (纸本)9781467380768

In highly automated and dynamic production systems the plant availability plays a crucial role, especially in terms of economic goals. In order to ensure a high system availability various maintenance strategies like preventive or predictive approaches are studied and applied. Through the increasing complexity of production systems, more and more methods for (semi-)automation of maintenance tasks are in use, especially for fault-diagnosis. Today, service or repairing tasks are usually performed by a human operator. To enable a flexible automation of different maintenance tasks this paper introduces the modular robot control architecture of RoViDiAsS (Robotic Visual Disassembly and Assembly System). RoViDiAsS combines CAD data from assembly models with vision system data for planning possible manipulations for an autonomous robot. The use of offline data from CAD and online data from the vision system enables the compensation of uncertainties as well as a suitable planning approach. RoViDiAsS is therefore divided into five function modules which handle different responsibilities from the management of the input data to controlling the different manipulations. The architecture is designed in a modular way, making it possible to integrate new functions and algorithms. This contribution describes the structure of the system architecture and closes with the preparation of experiments.

关键词： Solid modeling Maintenance engineering Robots Design automation Planning machine vision Production systems

来源：评论

学校读者我要写书评

暂无评论

Approach for a General Pose-dependent Model of the Dynamic Behavior of Large Lightweight machine tools for Vibration Reduction

引用

Procedia CIRP 2016年 41卷 812-817页

作者： Stefanie Apprich Frederik Wulle Armin Lechler Andreas Pott Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) Universität Stuttgart Seidenstraße 36 70174 Stuttgart Germany

Large-scale machine tools for the manufacturing of large work pieces, e.g. blades, casings or gears for wind turbines, feature pose-dependent dynamic behavior. Small structural damping coefficients lead to long decay times for structural vibrations that have negative impacts on the production process. Typically, these vibrations are handled by increasing the stiffness of the structure by adding mass. That is counterproductive to the needs of sustainable manufacturing as it leads to higher resource consumption both in material and in energy. Recent research activities have led to higher resource efficiency by radical mass reduction that rely on control-integrated active vibration avoidance and damping methods. These control methods depend on information describing the dynamic behavior of the controlled machine tools in order to tune the avoidance or reduction method parameters according to the current state of the machine. The paper describes the approach for a general pose-dependent model of the dynamic behavior of large lightweight machine tools that provides the necessary input to the aforementioned vibration avoidance and reduction methods to properly tackle machine vibrations. The paper starts with an overview of the state of the art of the pose-dependent dynamic behavior of machine tools followed by the most common methods for vibration avoidance and reduction. Based on the results of an experimental modal analysis of a lightweight machine tool structure, the relevant pose-dependency is shown and the relevant parameters to derive the dynamic behavior are deduced. Then, a general model structure to model the machine tool's dynamic behavior is introduced. After updating the model parameters to different discrete machine poses the dynamical behavior of the model and the real machine tool structure are compared. Finally, it is explained how the model contributes to the actual vibration reduction of lightweight machine tools.

关键词： machine Tool Dynamics Modelling Pose-Dependency

来源：评论

学校读者我要写书评

暂无评论

Automatic Optimal Motion Generation for Robotic Manufacturing Processes: Optimal Collision Avoidance in Robotic Welding

Automatic Optimal Motion Generation for Robotic Manufacturin...

引用

IEEE International Conference on Automation Science and engineering

作者： Julian R. Diaz P. Thomas Dietz Philip Ockert Alexander Kuss Martin Hagele Alexander Verl Fraunhofer Institute for Manufacturing Engineering and Automation (IPA) Institute for Control Engineering of Machine Tools and Manufacturing Units ISW University of Stuttgart

ISBN: (纸本)9781509024100

Optimal, efficient and intuitive robotic programming is still a challenge in robotic manufacturing and one of the main reasons why robots are not widely implemented in small and medium-sized enterprises (SME). In order to effectively and efficiently respond to the current product variability requirements, SMEs require easy and optimal programmable robotic manufacturing systems in order to achieve profitable and rapid changeover. To make up for this deficiency, this paper proposes a solution approach for computing optimal motions for manufacturing processes based on the interpretation of the manufacturing process and an automatic configuration of a state of the art sample-based algorithm, the Rapidly-exploring Random Tree RRT~* which is provably asymptotically optimal, using as inputs the semantic and mathematical descriptions of the product, process and resource components. The approach is simulated on the example of collision avoidance for different scenarios in robotic welding revealing its functionality and outlining future potentials for the optimal motion generation for robotic manufacturing processes.

关键词： Collision avoidance Manufacturing process PRODUCT HANDLING Robotic welding autoconfiguration Optimal Semantics Robot

来源：评论

学校读者我要写书评

暂无评论

Fast High-Resolution FE-based Simulation of Thermo-Elastic Behaviour of machine Tool Structures

引用

Procedia CIRP 2016年 46卷 627-630页

作者： Alexander Galant Michael Beitelschmidt Knut Großmann TU Dresden Institute of Machine Tools and Control Engineering 01062 Dresden Germany TU Dresden Institute of Solid Mechanics 01062 Dresden Germany

Thermally induced errors on machine tools are one of the most important error sources in precision machining. Up to 75% of the overall geometrical errors on workpieces are caused by thermal errors of the machine tool [1] . Thermo-elastic FE-analysis of larger machine tool structures results in complex models requiring a lot of computation time. Reducing the computation time is essential for design optimization as well as for control-integrated correction of thermal deformation. This work shows how a complex thermo-elastic FE model of a machine tool assembly can be reduced to a compact time-saving thermo-elastic calculation model. Application of the method introduced in this paper brings a computation time reduction by the order of 1:1000 with practically negligible loss of accuracy. This method will be verified on a frame assembly of a milling machine.

关键词： machine tool thermal error real-time simulation

来源：评论

学校读者我要写书评

暂无评论

Determination of the Wrench-Closure Translational Workspace in Closed-Form for Cable-Driven Parallel Robots

Determination of the Wrench-Closure Translational Workspace ...

引用

IEEE International Conference on Robotics and Automation

作者： Andreas Pott Werner Kraus Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Seidenstr. 36 70174 Germany

ISBN: (纸本)9781467380270

Workspace determination for robots is an important step in analysis and synthesis. A couple of methods for computing the wrench-closure workspace of cable-driven parallel robots were reported in the literature but all methods tend to be time consuming. In this paper, a new algorithm is presented that exploits different techniques to speed up the computation. Pre-computation is largely exploited and benefit are gained both from considerations in computer algebra and efficient numerical routines. Results from the computation of the translational (sometimes also called constant orientation) wrench-closure workspace are presented and performance values are provided. To the best of the authors' knowledge, the method proposed in this paper is superior in terms of computational time to any other approach for workspace computation.

关键词： Determination Wrench-Closure Translational Workspace

来源：评论

学校读者我要写书评

暂无评论

Detection of Workpiece Shape Deviations for Tool Path Adaptation in Robotic Deburring Systems

引用

Procedia CIRP 2016年 57卷 545-550页

作者： Alexander Kuss Manuel Drust Alexander Verl Fraunhofer Institute for Manufacturing Engineering and Automation IPA Nobelstrasse 12 70569 Stuttgart Germany Institute for Control Engineering of Machine Tools and Manufacturing Units ISW University of Stuttgart Seidenstrasse 36 70174 Stuttgart Germany

Robotic systems have the potential to automate deburring processes along edges of arbitrarily shaped workpieces. The desired robot movement can be realized by proper trajectory planning using the computer-aided design (CAD) model of the manufactured workpiece. A fundamental problem is that geometric shape deviations between the nominal CAD model and the manufactured parts might be beyond acceptable limits for correct execution of the deburring process. This paper proposes a novel, easy to implement and practical approach to detect shape deviations of workpieces for automatic adaptation of robotic deburring processes. The approach only uses dimensional tolerance specifications of the manufactured part provided by the product design to derive possible variations of the workpiece geometry model. A matching process is performed between point clouds for each of the considered variants and a measured point cloud from the manufactured workpiece using an Iterative Closest Point (ICP) approach. Resulting point distances are used for evaluation of shape similarity between the compared point clouds. Finally, the most similar geometry model is identified for subsequent trajectory planning and workpiece localization. Experimental validation is performed by an industrial robot equipped with a stereo camera for shape sensing and a milling tool for subsequent execution of a deburring process. The results demonstrate the effectiveness and practicality of the proposed approach in industrial applications and an increased deburring quality.

关键词： Deburring Industrial Robot System Shape Deviation CAD Model

来源：评论

学校读者我要写书评

暂无评论

CESA~3R: Highly Versatile Plug-and-Produce Assembly System

CESA~3R: Highly Versatile Plug-and-Produce Assembly System

引用

IEEE International Conference on Automation Science and engineering

作者： Marian Vorderer Stefan Junker Armin Lechler Alexander Verl Corporate Sector Research and Advance Engineering Robert Bosch GmbH Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart

ISBN: (纸本)9781509024100

The presented machinery concept CESA~3R (Concept for engineering free, Scalable, Advanced Automated Assembly system for Rapid ramp up) addresses today's challenges in production such as product variety and quantity variation by enhancing versatility. Central elements are function oriented standardized automation devices, which are technically featured with independent structure recognition and self-descriptive capabilities. A precise localization unit combined with a skill based programming concept allows an automatic configuration and program generation. The devices can be arranged at runtime to automate a given assembly task without additional engineering and programming efforts.

关键词： Assembly systems autoconfiguration Program generation Automation Runtime Programming ramp-up

来源：评论

学校读者我要写书评

暂无评论

Estimating inertial parameters of suspended cable-driven parallel robots — Use case on CoGiRo

Estimating inertial parameters of suspended cable-driven par...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Philipp Tempel Pierre-Elie Herve Olivier Tempier Marc Gouttefarde Andreas Pott Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Stuttgart Germany Tecnalia France Batiment 6- Centre Spatial Uni-versitaire Montpellier-Nîmes Montpellier France Laboratoire d'Informatique de Robotique et de Microèlectronique de Montpellier UM - CNRS Montpellier cedex 5 France Universitat Stuttgart Stuttgart Baden-WÃ¼rttemberg DE

Model based open-loop and closed-loop control systems make use of the system's inertial parameters. Unfortunately, not all of these values can be determined analytically nor can they be obtained from simple measurements. Established experiments for inertial parameters estimation have been applied to serial and parallel rigid-link manipulators, yet in very few cases to cable-driven parallel robots. Due to their kinematic properties and their unique setup, cable robots are more sensitive to incorrect estimates of the inertial parameters making it important to obtain such quantities through experiments. In this work, we assess the topic of inertial parameter identification of a parallel flexible-link manipulator exemplified by the suspended cable-driven parallel robot CoGIRo. Identification equations are derived from Newton-Euler equations of motion of an arbitrary point fixed to a rigid-body. Laboratory experiments for identification of the inertial parameters are then introduced and results are presented. Within the limitations of the sensors and data acquisition methods, reasonable results have been obtained, thereby validating the procedure for suspended cable-driven parallel robots.

关键词： Mathematical model Gravity Parallel robots Manipulators Kinematics Mobile communication

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：