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29th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2024

作者： Gill, Milapji Singh Zhang, Jingxi Wortmann, Andreas Fay, Alexander Institute of Automation Technology Helmut Schmidt University Hamburg Germany Institute of Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Germany Automation Ruhr University Bochum Germany

ISBN: (纸本)9798350361230

Cyber-Physical Production Systems necessitate efficient configuration and continuous reconfiguration to adapt to evolving requirements and shifting goals. This process involves integrating various system structures to derive new functions and behaviors. The concept of the Digital Twin, which allows for effective integration and testing, is instrumental in facilitating this task. However, a fundamental prerequisite is that Digital Twins of individual system components must be composed efficiently and in accordance with dynamic System-of-Systems. We address this challenge by introducing an approach for the automated horizontal and vertical composition of Digital Twins, aimed at minimizing manual intervention and enhancing adaptability. Therefore, a pipeline specifically designed for this goal is proposed, which includes the generation of new functions and behaviors. This approach is intended to provide a foundation for future research. © 2024 IEEE.

关键词： System of systems

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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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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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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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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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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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Towards learning digital twin: case study on an anisotropic non-ideal rotor system 57

Towards learning digital twin: case study on an anisotropic ...

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18th IFAC Workshop on Time Delay Systems, TDS 2024

作者： Zhou, Zhibo Walther, Michael Verl, Alexander Robert Bosch GmbH Robert Bosch Campus 1 Renningen71272 Germany Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Seidenstraße 36 Stuttgart70174 Germany

In the manufacturing industry, the digital twin (DT) is becoming a central topic. It has the potential to enhance the efficiency of manufacturing machines and reduce the frequency of errors. In order to fulfill its purpose, a DT must be an exact enough replica of its corresponding physical object. Nevertheless, the physical object endures a lifelong process of degradation. As a result, the digital twin must be modified accordingly in order to satisfy the accuracy requirement. This article introduces the novel concept of"learning digital twin (LDT)," which concentrates on the temporal behavior of the physical object and highlights the digital twin's capacity for lifelong learning. The structure of a LDT is first described. Then, in-depth descriptions of various algorithms for implementing each component of a LDT are provided. The proposed LDT is validated on the simulated degradation process of an anisotropic non-ideal rotor system. © 2024 The Authors.

关键词： Anisotropy

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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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Case Study on using Layer Laminate manufacturing for Large Lightweight Parts with high Structural Damping

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Procedia CIRP 2024年 130卷 28-34页

作者： Nico Helfesrieder Florentin Furcoi Oliver Jud Armin Lechler Alexander Verl University of Stuttgart Institute for Control Engineering of Machine Tools and Manufacturing Units Seidenstraße 36 70174 Stuttgart Germany

Layer Laminated manufacturing (LLM) enables the inner optimization of parts through the joining of individually structured layers. Particularly for high-volume metal parts, for which structural optimization and additive manufacturing is possible but typically too expensive, LLM can offer a good alternative. Using adhesive bonding to join the layers, stiffness is expected to decrease, but part damping may be increased strongly. These effects have already been shown individually, but using scientific examples rather than real world examples. Therefore, this paper presents a case study that investigates the extent to which lightweight design and damping can be applied specifically by LLM with adhesive bonding. For this, a machine table of a feed axis is topology optimized, manufactured using the LLM-method, and examined experimentally. The validation includes experimental modal analysis, static bending tests and damping identification in the installation situation. The results indicate high design freedom and lightweight potential for large metallic parts. Additionally, the damping is significantly increased in the isolated examination, but only minor improvements are recognizable in the actual installation situation.

关键词： Layer Laminated manufacturing (LLM) Laminated Object manufacturing (LOM) Lightweight Damping Experimental Modal Analysis (EMA)

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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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