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Friction Variances of Linear machine Tool Axes

Procedia CIRP 2012年 4卷 115-119页

作者： Matthias Reuss Alexandru Dadalau Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units University Stuttgart Seidenstraße 36 70174 Stuttgart Germany

Friction and damping have a wide influence on machine tools’ dynamics. The statistical spread of identical machine tools’ friction and components’ influence on it are marginally known. In order to reduce this lack of knowledge, measurements of friction in linear axes of identical machine tools were performed. In the course of this paper the variance of friction in a single axis is determined as well as the difference between several machine tools. Different types of feed drive systems, ball screw and linear motor driven, are measured and compared. The measured friction curves are used to estimate parameters of an extended Stribeck friction model. As a result, a method of measuring and analyzing friction in machine tools is developed and the evaluated parameters can be used for observing the assembly process, for condition monitoring, for on-board diagnostics and for scatter based parameterization of simulation models.

关键词： Friction machine tool measurement

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Redundancy resolution and control of manipulators driven by antagonistic pneumatic muscles

Redundancy resolution and control of manipulators driven by ...

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International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Mauro Calabria Frank Schreiber Yevgen Sklyarenko David Inkermann Annika Raatz Thomas Vietor Walter Schumacher Institute of Control Engineering Technische Universitäat Braunschweig Brunswick Germany Institute for Engineering Design Technische Universitäat Braunschweig Brunswick Germany Institute of Machine Tools and Production Technology Technische Universitäat Braunschweig Brunswick Germany

Pneumatic artificial muscles feature lightweight and compact construction, in combination with high obtainable forces and an intrinsic compliance. This makes them well suited for the actuation of kinematically redundant manipulators, but due to the limited deflection of the single muscles and the highly nonlinear static and dynamic characteristics, a whole new set of challenges arises. In this contribution, redundancy resolution and control strategies are presented, which take the main actuator non-linearities into account to make effective use of the advantages provided by the pneumatic muscle actuators. The presented approach is demonstrated on a manipulator consisting of modular segments each actuated by a pair of antagonistic pneumatic muscle actuators. The approach proves to allow the avoidance of the pressure- and deflection-dependent joint limits to ensure a maximum of controllability of the manipulator at each point in the workspace.

关键词： Joints Muscles Manipulators Vectors Kinematics Redundancy Actuators

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Research approaches enabling transformability for the metal forming industry

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IFAC Proceedings Volumes 2012年第23期45卷 146-150页

作者： M. Birkhold A. Verl Institute for Control Engineering of Machine Tools and Manufacturing Units Stuttgart BW 70174 Germany (Tel: +49-711-68584502 e-mail: Markus.Birkhold@isw.uni-stuttgart.de) Institute for Control Engineering of Machine Tools and Manufacturing Units Stuttgart BW 70174 Germany (Tel: +49-711-68582410 e-mail: Alexander.Verl@isw.uni-stuttgart.de)

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.

关键词： Adaptive control automation automotive flexible manufacturing systems

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Modular modeling of energy consumption for monitoring and control

Modular modeling of energy consumption for monitoring and co...

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作者： Verl, Alexander Abele, Eberhard Heisel, Uwe Dietmair, Anton Eberspächer, Philipp Rahäuser, Raphael Schrems, Sebastian Braun, Steffen Institute for Control Engineering of Machine Tools and Manufacturing Units Universität Stuttgart Stuttgart Germany Institute for Production Management Technology and Machine Tools TU Darmstadt Darmstadt Germany Institute for Machine Tools Universität Stuttgart Stuttgart Germany

ISBN: (纸本)9783642196911

A prerequisite to achieve energy efficiency in production through optimization is the possibility to use simulation models to predict the consequences settings, decisions and actions have on the energy consumption and thus on the lifecycle cost of production machines. But today's production systems are dominated by agile structures and rapid changes of general conditions so that predictive energy consumption models need to be adaptable. Therefore in the ECOMATION project the modular modeling approach for energy consumption prediction presented here is being developed, which facilitates re-use of energy consumption models and thus minimizes the cost of finding the optimal operational profiles.

关键词： Energy efficiency

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A beam monitoring system for large and scanned laser spots - Lasmon

A beam monitoring system for large and scanned laser spots -...

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30th International Congress on Applications of Lasers and Electro-Optics, ICALEO 2011

作者： Hannweber, Jan Galant, Alexander Bonß, Steffen Brenner, Berndt Beyer, Eckhard Fraunhofer Institute for Material and Beam Technology IWS Dresden Winterbergstrasse 28 01277 Dresden Germany University of Technology Institute of Machine Tools and Control Engineering 01062 Dresden Germany

A novel monitoring system for large, formed and scanned high power laser beams will be presented. Such laser beams are particular used in industrial laser hardening processes. The system design is very simple, inexpensive and easily adaptable. The software makes it possible to identify all standard beam parameters e.g. the beam parameter product, power density distribution, Rayleigh length and FWHM. In addition, functions specifically for laser beam hardening are provided. Some significant applications are in the area of quality and process control, such as the determination of the distribution of the laser beam intensity after passing high frequency scanning systems. Beyond that, the system is the key for monitoring the necessary input data of the heat treatment simulation process. The state of development of a real 3D laser hardening simulation tool is also presented. As a result the theoretical and experimental influence of different laser beam shapes to the hardening parameters is discussed.

关键词： Laser beams

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Architecture for multilevel monitoring and control of energy consumption

Architecture for multilevel monitoring and control of energy...

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作者： Verl, Alexander Westkämper, Engelbert Abele, Eberhard Dietmair, Anton Jan, Schlechtendahl Friedrich, Jens Haag, Holger Schrems, Sebastian Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany Institute of Industrial Manufacturing and Management University of Stuttgart Stuttgart Germany Department of Production Management Technology and Machine Tools Technical University of Darmstadt Darmstadt Germany

ISBN: (纸本)9783642196911

Guaranteeing energy efficient operation of production systems through a-priori optimization is an extremely complex task. We therefore propose an alternative approach where controls can decide locally if an energy reduction is possible and set components to energy-optimal states. In this paper we present results from the research group ECOMATION describing the information flow that generates energy control loops on different levels based on model information and an appropriate communication and control infrastructure. The communication mechanisms and control structures in production systems and machines are presented which allow using models automatically and coherently on all required levels of detail and abstraction.

关键词： Energy efficiency

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Multilevel control of energy consumption 21

Multilevel control of energy consumption

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21st International Conference on Production Research: Innovation in Product and Production, ICPR 2011

作者： Schlechtendahl, J. Haag, H. Eberspächer, P. Friedrich, J. Verl, A. Westkämper, E. Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Seidenstraße 36 Stuttgart70174 Germany Institute of Industrial Manufacturing and Management University of Stuttgart Nobelstraße 12 Stuttgart70569 Germany

ISBN: (纸本)9783839602935

Guaranteeing energy-efficient operation of production systems through a-priori optimization is an extremely complex task. We therefore propose an alternative approach where controls can decide locally if an energy reduction is possible and set components to energy-optimal states. In this paper we present results from the research group ECOMATION describing the information flow that generates energy control loops on different levels based on model information and an appropriate communication and control infrastructure. The communication mechanisms and control structures in production systems and machines are presented which allow using energy consumption values automatically and coherently on all required levels of detail and abstraction.

关键词： Energy efficiency

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Tracking control with hysteresis compensation for manipulator segments driven by pneumatic artificial muscles

Tracking control with hysteresis compensation for manipulato...

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2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

作者： Schreiber, Frank Sklyarenko, Yevgen Schlüter, Kathrin Schmitt, Jan Rost, Sven Raatz, Annika Schumacher, Walter Institute of Control Engineering Technische Universität Braunschweig 38106 Braunschweig Germany Institute of Machine Tools and Production Technology Technische Universität Braunschweig 38106 Braunschweig Germany National Technical University Donetsk Department of Control Systems and Mechatronics 83000 Donetsk Ukraine

ISBN: (纸本)9781457721373

In this paper a feedforward control structure is introduced for a manipulator joint driven by a symmetrical arrangement of two antagonistic muscles. The setup allows the specification of the desired joint angle, as well as the single muscle forces. Based upon the manipulator kinematic and the inverse static relation in a single muscle, the pressure signal for the muscles' supplying valves is calculated. Applying this control structure allows to compensate the nonlinear characteristic mean relation in a single muscle actuator, while the muscles' hysteretic behavior introduces a hysteresis in the relation between the desired and the actual joint angles. It is shown, that if the muscles are subject to comparable forces the resulting hysteretic behavior can be described by a Preisach model. The inverse of this model can then be applied as a feedforward term to compensate the static hysteretic behavior. Experiments confirm the improvement in tracking control as compared to the system solely controlled by a feedback regulator. © 2011 IEEE.

关键词： Muscle

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Erratum to “machine tool feed drives” [CIRP Ann. Manuf. Technol. 60 (2011) 779–796]

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CIRP Annals 2012年第2期61卷 837-837页

作者： Y. Altintas A. Verl C. Brecher L. Uriarte G. Pritschow Manufacturing Automation Laboratory University of British Columbia Vancouver Canada Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) Stuttgart Germany Machine Tool Laboratory (WZL) University of Aachen Germany Mechatronics Dept. – Tekniker-IK4 Eibar Basque Country Spain

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Model fusion via a master fuzzy system with special application to engineering materials

Model fusion via a master fuzzy system with special applicat...

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作者： Zhang, Qian Mahfouf, Mahdi Yates, John R. Pinna, Christophe Panoutsos, George Boumaiza, Soufiene Greene, Richard J. De Leon, Luis Department of Automatic Control and Systems Engineering University of Sheffield Sheffield S1 3JD United Kingdom School of Mechanical Aerospace and Civil Engineering University of Manchester M60 1QD United Kingdom Department of Mechanical Engineering University of Sheffield Sheffield S1 3JD United Kingdom Institute of Production Engineering and Machine Tools Leibniz University Hannover Germany

ISBN: (纸本)9783902661937

To improve the modelling performance, one should either propose new modelling methodologies or make the best of existing models. In this paper, the study is concentrated on the latter solution, where a structure-free modelling paradigm is proposed to combine various modelling techniques in 'symbiosis' using a 'master fuzzy system'. This approach is shown to be able to include the advantages of different modelling techniques altogether by minimising efforts relating optimisation of final structure. The proposed approach is then successfully applied to predict machining induced residual stresses for aerospace alloy components as well as mechanical properties of heat-treated alloy steels. © 2011 IFAC.

关键词： Fuzzy systems

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