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International Symposium on Robotics (ISR)

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

Using robots for machining, implies many advantages. By using the flexibility robots have to offer, workcells with high application versatility can be provided. Nevertheless, there are several challenges to overcome. This paper gives an overview about challenges robotic machining has already met. Besides these challenges, robot-machining still has to encounter obstacles resulting from the fact that robots have been solely handling devices so far. Furthermore, trends in robotic market are outlined by giving particular examples, emphasizing the willingness of industrial robot companies to provide robot-based machining systems.

关键词： Robot sensing systems Service robots Materials Manuals Semiconductor device measurement Milling

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Compliance force control for Polish cardiosurgical manipulator RobIn Heart

Compliance force control for Polish cardiosurgical manipulat...

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Workshop on Robot Motion and control

作者： Alicja Mazur Leszek Podsedkowski Adrian Szymanski Marcin Zawierucha Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Institute of Machine Tools and Production Engineering Lodz University of Technology

ISBN: (纸本)9781467355094

In the paper hybrid control for Polish cardio-surgical robot RobIn Heart 3 has been presented. Classical position-force control with modification introduced by Fisher and Mujtaba has been simulated with dynamics model of this robot. It has been conducted extensive simulation study, which should give an answer to the question, if selected motion patterns, so-called "motion primitives", could be prepared to support human reactions. Such patterns could give surgeon possibility to make a process of cutting or needling more precisely and with precise force of pressure. Simulation research has confirmed correctness of assumed control solution. It is a point of departure to practical implementation of such control scheme in robot RobIn Heart.

关键词： Robin Force control human reactions Robot Martes pennanti Polish Polish Heart Answer pressure simulation Cuttings Debris Cutting patterning of movement

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Virtual Sensor for Calibration of Thermal Models of machine tools

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Advances in Artificial Neural Systems 2014年第1期2014卷

作者： Alexander Dementjev Burkhard Hensel Klaus Kabitzsch Bernd Kauschinger Steffen Schroeder Institute of Applied Computer Science 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

machine tools are important parts of high-complex industrial manufacturing. Thus, the end product quality strictly depends on the accuracy of these machines, but they are prone to deformation caused by their own heat. The deformation needs to be compensated in order to assure accurate production. So an adequate model of the high-dimensional thermal deformation process must be created and parameters of this model must be evaluated. Unfortunately, such parameters are often unknown and cannot be calculated a priori. Parameter identification during real experiments is not an option for these models because of its high engineering and machine time effort. The installation of additional sensors to measure these parameters directly is uneconomical. Instead, an effective calibration of thermal models can be reached by combining real and virtual measurements on a machine tool during its real operation, without additional sensors installation. In this paper, a new approach for thermal model calibration is presented. The expected results are very promising and can be recommended as an effective solution for this class of problems.

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Integration of Discrete Manufacturing Field Devices Data and Services based on OPC UA

Integration of Discrete Manufacturing Field Devices Data and...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Pedro Reboredo Matthias Keinert Bosch Rexroth AG Research & Development University of Stuttgart Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW)

ISBN: (纸本)9781479902255

The importance of information availability from field device to management level is continuously growing against the background for meeting the demands on competitive and flexible production systems in discrete manufacturing. Service-oriented Architecture (SOA) paradigm seems to promise to fulfill this requirement. However, SOA will not be applicable to every field device due to e.g. computational limitations. Therefore this paper presents an approach for the integration of manufacturing field devices based on fieldbus information models and services. This is done by a controller-based SOA gateway and a semantic transformation of fieldbus information models and services into OPC Unified Architecture (OPC UA). An on-the-fly transformation of data and services based on OPC UA is proposed and validated using sercos III as Real-Time-Ethernet (RTE)-based fieldbus.

关键词： SOA OPC UA Sercos Information Modeling Fieldbus Field Devices Integration Semantic Transformation Field buses field devices Service-oriented architecture Semiconductor Optical Amplifier Legal Services DNA Integration integration Information Modelling originating point code Production systems information models

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Development of Non-Crimp Multi-Layered 3D Spacer Fabric Structures using Hybrid Yarns for Thermoplastic Composites

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Procedia Materials Science 2013年 2卷 10-17页

作者： Adil Mountasir Gerald Hoffmann Chokri Cherif Michael Löser Andreas Mühl Knut Großmann Institute of Textile Machinery and High Performance Material Technology (ITM) Technische Universität Dresden 01069 Dresden Germany Institute of Machine Tools and Control Engineering (IWM) Technische Universität Dresden 01069 Dresden Germany

An innovative weaving technology for the manufacturing of 3D woven double-walled spacer fabrics from high performance hybrid yarns was developed and implemented. Based on the gained technical and technological experience the woven multi-layered structures with load-oriented non-crimp fiber arrangement are realized and improved for high preform stiffness and a reproducible manufacturing. The article provides an overview of the technology for weaving of 3D spacer preforms in one production step with the required machine modifications. Furthermore the advantages of multi-layered woven fabric as well as the development of special pattern to forming and stiffening of the critical areas (joint areas) will be presented.

关键词： 3D woven spacer fabrics Multi layered weave Non-crimp fibre arrangement Critical area (joint area) Fiber reinforced thermoplastic composites

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On the Development of Transformable Sheet Metal Forming tools

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IFAC Proceedings Volumes 2013年第16期46卷 391-396页

作者： M. Birkhold F.-B. Pauli A. Lechler A. Verl Institute for Control Engineering of Machine Tools and Manufacturing Units Seidenstrasse 36 70174 Stuttgart DE (Tel: +49-711-685-84502) Franz Pauli Gmbh & Co. KG Hauptstrasse 24 59469 Ense-Parsit DE (Tel: +49-2938-987-0)

Freed from the strict sinusoidal motion of classic mechanical presses, the servo press allows new tool designs. This free motion capability of the servo press can be used to integrate follow-up processes into the sheet metal forming tool. With this approach, specialized equipment like dedicated welding stations becomes unnecessary. Moreover, by introducing transformability to the design, this integration can be made reversible. Depending on the production situation, it is possible to run the process integrated or externally. This tool design allows the manufacturer to adapt to demand more easily, thus increasing its competitiveness. However, the complexity of such sheet metal forming tools is significantly increased. But tool manufacturers have yet to embrace the new capabilities of the servo press. In this paper we will show the design for a transformable sheet metal forming tool. The tool will produce a clamp, consisting of a ring and a holder. Ring and holder are formed, combined and welded within the tool. We will discuss the issues concerning mechanical and control systems design and show how we have solved them. We will put a special emphasis on the challenges we faced with handling of forming parts, synchronization, placement and power supply of the integrated welding station.

关键词： Sheet metal forming transformability tool development process integration welding

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An Approach for a Cloud-based machine Tool control

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Procedia CIRP 2013年 7卷 682-687页

作者： Alexander Verl Armin Lechler Stefan Wesner Andreas Kirstädter Jan Schlechtendahl Lutz Schubert Sebastian Meier Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) Seidenstr.36 70174 Stuttgart Germany kiz University of Ulm Albert-Einstein-Allee 11 89081 Ulm Germany Institute of Communication Networks and Computer Engineering (IKR) Pfaffenwaldring 47 70569 Stuttgart Germany High Performance Computing Center Stuttgart (HLRS) Nobelstraße 19 70569 Stuttgart Germany

Versatility and scalability are the major factors for meeting the requirements of a flexible production of the 21 st century. A versatile production can only be realized if the machine control infrastructure is also versatile and scalable – current machine controls are not. Limitations in areas like e.g. reconfiguration ability, security and computational power demand for a radically new concept for machine controls. The approach presented in this paper is to split the physical location of the machine tool control from the machine tool itself. The approach moves the control in a cloud providing machine control as a service (MCaaS).

关键词： Cloud based manufacturing Cyber physical system Realtime cloud

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Research approaches enabling transformability for the metal forming industry

Research approaches enabling transformability for the metal ...

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2012 IFAC Workshop on Automation in the Mining, Mineral and Metal Industries, MMM 2012

作者： Birkhold, M. Verl, A. Institute for Control Engineering of Machine Tools Manufacturing Units Stuttgart BW 70174 Germany

ISBN: (纸本)9783902823120

In recent years manufacturers are faced with ever increasing volatile markets. To be able to react to new market situations, manufacturers need to develop production systems that are adaptable to these changes. In order to support research efforts concerning this challenge the Federal Ministry of Education & Research (BMBF) is funding joint projects of companies and research institutes. This paper describes the problems that the sheet metal forming industry is currently facing due to the market turbulences, how the BMBF-funded research project "Formäleon" will enable transformability in the sheet metal forming industry and the first results in the development of a new adaptive control system. © 2012 IFAC.

关键词： Flexible manufacturing systems

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Automated linkage of consumption models and control information in control systems 19

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19th CIRP Conference on Life Cycle engineering, LCE 2012

作者： Schlechtendahl, Jan Sommer, Philipp Eberspächer, Philipp Verl, Alexander Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany

ISBN: (纸本)9783642290688

The ecological impact of modern machine tools is dominated by the energy consumption during operational life. To decrease the energy consumption of machine tools strategies need to be developed to monitor energy consumption during operation and to predict the energy consumption of potential measures that could be applied to decrease the energy consumption. Following a model based approach a linkage of models with other models and control information is necessary. In this paper strategies to link consumption models of machine components in a machine control with other consumption models and control information in an automatic way are described.

关键词： Energy utilization

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Automated provision and exchange of energy information throughout the production process 19

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19th CIRP Conference on Life Cycle engineering, LCE 2012

作者： Eberspächer, Philipp Haag, Holger Rahäuser, Raphael Schlechtendahl, Jan Verl, Alexander Bauernhansl, Thomas Westkämper, Engelbert Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Germany Institute of Industrial Manufacturing and Management University of Stuttgart Germany University of Stuttgart Germany

ISBN: (纸本)9783642290688

To ensure increasing energy efficiency in production it is necessary to aim for an energy optimal planning and control, consumption monitoring and efficiency evaluation of the entire production process. To achieve this goal an overall assessment, use and provision of existing energy information within the production process is compulsory along with the knowledge of possible adjusting levers to actually manipulate and reduce the energy consumption. Therefore an automated approach to provide and exchange energy information throughout the production process has been developed in the ECOMATION project as an energy information description language. Its definition, use and possible benefits are presented.

关键词： Energy efficiency

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