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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Simon Fritsch Stefan Landler Michael Otto Birgit Vogel-Heuser Markus Zimmermann Karsten Stahl Institute of Machine Elements Gear Research Center (FZG) Institute of Automation and Information Systems (AIS) Laboratory for Product Development and Lightweight Design (LPL)

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Rolling element eccentric drives promise to be an easy-to-manufacture and performant gear system for robotic actuators. They share characteristics with other eccentric drives, such as strain wave and cycloidal drives, but use rolling elements instead of an eccentric gear. They offer reduced manufacturing complexity and costs by using readily available standard parts. Little research into rolling element eccentric drives is available, and their characteristics are still underexplored. This work uses a contact-based model to investigate the previously unknown stiffness of rolling element eccentric drives. Such calculation methods are well established for structurally similar components, such as cycloidal drives and roller bearings, and provide a high-level and computationally efficient model. Good stiffness models are critical for accurately predicting robotic actuator behavior and enabling better control of robotic systems. Additionally, the proposed model is used to calculate the contact forces under load occurring in rolling element eccentric drives. Contact forces are critical to calculating a drive’s load capacity, lifetime, and efficiency and serve as the foundation for further research. The mathematical description of the proposed model is derived, and the stiffness of a representative rolling element eccentric drive is calculated. Different manufacturing techniques, characterized by tolerance levels and material choices, are compared. Irrespective of manufacturing precision, similar stiffness curves result for drives made of steel, but higher contact forces result from less precise manufacturing. The stiffness of drives made from 3D printed plastic is considerably lower than that of drives made from steel. Additionally, the stiffness of rolling element eccentric drives is compared to similar eccentric drives, and a comparable twist-over-torque curve is shown.

关键词： Actuators Gears Computational modeling Three-dimensional printing Mathematical models Manufacturing Steel Standards Load modeling Strain

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The Effect of Heat and Surface Treatment on the Fatigue Behaviour of 56SiCr7 Spring Steel

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Procedia Engineering 2014年 74卷 309-312页

作者： Roselita Fragoudakis Stelios Karditsas Georgios Savaidis Nikolaos Michailidis Tufts University Department of Mechanical Engineering Medford MA 02155 USA Aristotle University of Thessaloniki Department of Mechanical Engineering Laboratory of Machine Elements & Machine Design Thessaloniki 54124 Greece Aristotle University of Thessaloniki Department of Mechanical Engineering Physical Metallurgy Laboratory Thessaloniki 54124Greece

Heat and surface treatments of spring steels can greatly affect fatigue life by increasing the number of cycles to failure. Heating, quenching and tempering of spring steel will increase its fatigue limit, as tempered martensite formation with an appropriate surface hardness is achieved from an initial ferritic/perlitic microstructure. This study deals with the parameters of the manufacturing process to transforming the initial microstructure of 56SiCr7 steel to tempered martensite, and increasing the surface hardness and fatigue resistance. Microscopy helps determine the decarburized surface layer thickness. Macro- and micro hardness measurements distinguish between core and surface microstructure hardness of the heat-treated steel. Shot-peening induces compressive residual stresses to the surface of the steel, therefore increasing its surface hardness and consequently the number of cycles to failure. This study shows significant hardness increase on the surface of the steel, and verifies how heat- treatment and shot-peening affect surface hardness. Experimental and analytically calculated (FKM guideline) S-N curves at 4- point cyclic bending quantify the individual effects resulting from the applied heat treatment and shot peening on fatigue life.

关键词： Heat Treatmen Shot-peening Tempering Spring Steel Microstructure Surface Hardness Fatigue Life

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Determination of the Characteristics of Gears of Robot-Like Systems by Analytical Description of their Structure

Determination of the Characteristics of Gears of Robot-Like ...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Stefan Landler Raúl Molina Blanco Michael Otto Birgit Vogel-Heuser Markus Zimmermann Karsten Stahl Technical University of Munich Germany TUM School of Engineering and Design Department of Mechanical Engineering Munich Institute of Robotics and Machine Intelligence (MIRMI) Institute of Machine Elements Gear Research Center (FZG) Institute of Automation and Information Systems (AIS) Laboratory for Product Development and Lightweight Design (LPL)

The axes of robots and robot-like systems (RLS) usually include e-motor-gearbox-arrangements for optimal connection of the elements. The characteristics of the drive system and thus also of the robot depend strongly on the gears. Different gearbox designs are available which differ in stiffness, efficiency and further properties. For an application-optimal design of RLS a uniform documentation and a comparability of gearbox concepts is a decisive factor. The application-optimal design is supported by an interdisciplinary approach between mechanical engineering and software design, guided by adequate product development methodology. The quite heterogeneous characterization of gearboxes for RLS which is currently the state of the art is a relevant obstacle in the flexible and optimal design of RLS. The paper shows the analysis of the gear structure with unified symbols for specific machine elements and contact types. The introduced method gives insight into the mechanical structure of the gearboxes. Similarities between gear types can thus be revealed. This also enables the classification of new developments in the state of the art. Moreover, the developed method for analyzing the gear structure can be used to determine the characteristics of gears. Examples for these characteristics are backlash, efficiency or stiffness. Specifically, the stiffness of gears can be synthesized by the force action of individual contacts and the individual phenomena that occur with them. The representation by individual phenomena also makes it possible to extend the calculation to include influencing parameters such as temperature that have not been sufficiently taken into account so far.

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Compatibility Assessment for Interfaces in Drivetrains of Robot-Like Systems

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Procedia Computer Science 2024年 232卷 2994-3002页

作者： Marcus Volpert Birgit Vogel-Heuser Dominik Hujo Karsten Stahl Markus Zimmermann Institute of Automation and Information Systems TUM School of Engineering and Design Technical University of Munich Garching Germany Fellow IEEE Core Member of MDSI Member of MIRMI Institute of Machine Elements TUM School of Engineering and Design Technical University of Munich Garching Germany Laboratory for Product Development and Lightweight Design TUM School of Engineering and Design Technical University of Munich Garching Germany

Due to the complexity of robot-like systems (RLS), new developments are often avoided, and most variants of the systems are designed. The primary determinant of an RLS is its drivetrain, which comprises purchased components, namely the controller, motor driver, motor, and gearbox. Each of these purchased parts has different interfaces that are not standardized. If the interfaces are sufficiently complex, the compatibility of the parts can no longer be guaranteed manually. Therefore, this paper presents a draft ontology that verifies the compatibility of purchased parts in RLS drivetrains. Classes and properties are obtained from expert knowledge, norms, data standards, and data sheets to build an ontology. The ontology design is evaluated using an application example for a motor-gearbox interface.

关键词： robot-like systems interface modeling ontology model-based systems engineering drivetrains

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Current Challenges in the design of Drives for Robot-Like Systems

Current Challenges in the Design of Drives for Robot-Like Sy...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Birgit Vogel-Heuser Markus Zimmermann Karsten Stahl Kathrin Land Felix Ocker Sebastian Rötzer Stefan Landler Michael Otto Institute of Automation and Information Systems Technical University of Munich Garching Germany Laboratory for Product Development and Lightweight Design Technical University of Munich Garching Germany Institute of Machine Elements Technical University of Munich Garching Germany

ISBN: (数字)9781728185262

ISBN: (纸本)9781728185279

Companies producing Robot-Like Systems (RLS) must increase efficiency in design and production in order to stay competitive in the international market. Such RLS range from small SCARA robots to entire production facilities. Very different systems for similar tasks are published in research or offered in the market. A clear path to an optimal configuration for a given task is apparently not available to the engineer. This indicates that the gear drives of such RLS and their integration with automation technology are still insufficiently researched, and their efficient design poses significant challenges for the industry. This paper identifies and provides a concise overview of requirements and challenges in the context of drives for such RLS. Building on this overview, suggestions are made for the future course of action in research.

关键词： Industries Service robots Gears Conferences Production facilities Task analysis Cybernetics

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Formalizing Selected Mechatronic Component's Constraints in SysML Models

Formalizing Selected Mechatronic Component's Constraints in ...

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Annual Conference of Industrial Electronics Society

作者： Birgit Vogel-Heuser Dominik Hujo Marcus Volpert Stefan Landler Michael Otto Karsten Stahl Markus Zimmermann Technical University of Munich TUM School of Engineering and Design Institute of Automation and Information Systems Garching Germany Chair of Machine Elements Technical University of Munich TUM School of Engineering and Design Garching Germany Laboratory for Product Development and Lightweight Design Technical University of Munich TUM School of Engineerring and Design Garching Germany

One of the limitations of classical SysML is that it does not provide information on how to model system component's constraints, which can result in individual model solutions for the same elements. To address this issue, we propose utilizing the reference mechanism in SysML to refer to REXS and ECLASS data standards, which can unambiguously define characteristic properties. Environmental factors such as temperature or humidity constraints play a vital role in designing components of mechatronic systems, like transmissions, or electrical and electronic components like sensors and actuators. Mechatronic component's properties may change depending on temperature and humidity and may show degradation. Such information is provided to some extent in the component's classified properties, like ECLASS and/or REXS, the engineering tool to configure gears. Such properties and constraints are further detailed in specification sheets provided by the manufacturer, e.g., by multi-dimensional manufacturer-specific parametric curves which are proposed to be explicitly included in the modeling process as SysML constraints. The proposed approach allows to include additional, not yet standardized environmental effects such as dirt layers in a formalized way. The formalized properties are modeled in parametric diagrams of SysML.

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Micro/nano-structured TiO2 surface with dual-functional antibacterial effects for biomedical applications

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Bioactive Materials 2019年第1期4卷 346-357页

作者： Xiang Ge Chengzu Ren Yonghui Ding Guang Chen Xiong Lu Kefeng Wang Fuzeng Ren Meng Yang Zhuochen Wang Junlan Li Xinxin An Bao Qian Yang Leng Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education School of Mechanical EngineeringTianjin UniversityTianjin300354China Department of Mechanical and Aerospace Engineering The Hong Kong University of Science and TechnologyClear Water BayKowloonHong KongChina Center for Advanced Regenerative Engineering Northwestern UniversityEvanstonIL60208USA Department of Biomedical Engineering Northwestern UniversityEvanstonIL 60208USA Key Lab of Advanced Technologies of Materials Ministry of EducationSchool of Materials Science and EngineeringSouthwest Jiaotong UniversityChengdu610031China National Engineering Research Center for Biomaterials Sichuan UniversityChengdu610064China epartment of Materials Science and Engineering Southern University of Science and TechnologyShenzhenGuangdong518055China State Key Laboratory of Precision Measuring Technology and Instruments Tianjin UniversityTianjin300072China School of Humanities Tianjin Agricultural UniversityTianjin300384China Department of Machine Elements and Engineering Design University of KasselKassel34125Germany

Implant-associated infections are generally difficult to cure owing to the bacterial antibiotic resistance which is attributed to the widespread usage of *** the global threat and increasing influence of antibiotic resistance,there is an urgent demand to explore novel antibacterial strategies other than using ***,using a certain surface topography to provide a more persistent antibacterial solution attracts more and more ***,the clinical application of biomimetic nano-pillar array is not satisfactory,mainly because its antibacterial ability against Gram-positive strain is not good ***,the pillar array should be equipped with other antibacterial agents to fulfill the bacteriostatic and bactericidal requirements of clinical ***,we designed a novel model substrate which was a combination of periodic micro/nano-pillar array and TiO2 for basically understanding the topographical bacteriostatic effects of periodic micro/nano-pillar array and the photocatalytic bactericidal activity of *** innovation may potentially exert the synergistic effects by integrating the persistent topographical antibacterial activity and the non-invasive X-ray induced photocatalytic antibacterial property of TiO2 to combat against antibiotic-resistant implant-associated ***,to separately verify the topographical antibacterial activity of TiO2 periodic micro/nano-pillar array,we systematically investigated its effects on bacterial adhesion,growth,proliferation,and viability in the dark without involving the photocatalysis of *** pillar array with sub-micron motif size can significantly inhibit the adhesion,growth,and proliferation of Staphylococcus aureus(***)and Escherichia coli(***).Such antibacterial ability is mainly attributed to a spatial confinement size-effect and limited contact area availability generated by the special topography of pillar ***,the pillar array is not lethal to S

关键词： Titanium dioxide Micro/nano-structured surface Topographical bacteriostatic activity Photocatalytic bactericidal property Non-invasive treatment

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Micro product and process fingerprints for zero-defect net-shape micromanufacturing 19

Micro product and process fingerprints for zero-defect net-s...

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19th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2019

作者： Tosello, Guido Gulcur, Mert Whiteside, Ben Coates, Phil Luca, Antonio De Sousa Lia Fook, Pablo Vinícius Riemer, Oltmann Danilov, Igor Zanjani, Matin Yahyavi Hackert-Oschätzchen, Matthias Schubert, Andreas Baruffi, Federico Achour, Soufian Ben Calaon, Matteo Nielsen, Chris Valentin Bissacco, Giuliano Cannella, Emanuele Rasmussen, Anette Bellotti, Mattia Saxena, Krishna Qian, Jun Reynaerts, Dominiek Santoso, Teguh Syam, Wahyudin Leach, Richard Kose, Sandeep Kuria Parenti, Paolo Annoni, Massimiliano Cai, Yukui Luo, Xichun Qin, Yi Zeidler, Henning Department of Mechanical Engineering Technical University of Denmark Kgs. Lyngby Denmark RKT Centre for Polymer MNT Faculty of Engineering and Informatics University of Bradford Bradford United Kingdom Laboratory for Precision Machining Leibniz Institute for Materials Engineering IWT University of Bremen Bremen Germany Chemnitz University of Technology Professorship Micromanufacturing Technology Chemnitz Germany IPU Kgs. Lyngby Denmark Department of Mechanical Engineering KU Leuven Member Flanders Make Leuven Belgium Manufacturing Metrology Team University of Nottingham Nottingham United Kingdom Mechanical Engineering Department Politecnico di Milano Milano Italy Centre for Precision Manufacturing Design Manufacture and Engineering Management University of Strathclyde Glasgow United Kingdom Institute of Machine Elements Design and Manufacturing Professorship for Additive Manufacturing TU Bergakademie Freiberg Freiberg Germany Beckmann-Institut für Technologieentwicklung Chemnitz Germany

ISBN: (纸本)9780995775145

Highly miniaturized systems find applications in key technological fields such as health-care, mobility, communications and optics. Required innovations for precision manufacturing of micro components can be achieved through post-process and in-process measurement of process input and output parameters. Hence, it is of critical importance to reduce the measurement and optimization effort, since process and product quality control can take a significant part of the production time in micro manufacturing. To solve this challenge, research is undertaken in order to define, investigate, implement and validate the "Product/Process Micro Manufacturing Fingerprint" concept. In particular, in the Horizon2020 Innovative Training Network "Process Fingerprint for Zero-defect Net-shape MICROMANufacturing", 9 beneficiaries and 14 industrial partners are collaborating to establish this concept for several manufacturing technologies, such as micro injection and micro ultrasonic moulding, micro mechanical and micro plasma polishing, micro electrical discharge machining, micro electrochecmical machining, micro grinding, micro laser machining, micro extrusion, micro metrology, micro sintering. The project has reached its goals of developing novel methods in micro scale manufacturing process monitoring and control, as well as micro and sub-micro product quality assurance. The overall result has been the establishment of effective micro product and process fingerprints for the considered manufacturing technologies. © 2019 European Society for Precision Engineering and Nanotechnology, Conference Proceedings - 19th International Conference and Exhibition, EUSPEN 2019. All rights reserved.

关键词： Quality assurance

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Additive manufacturing of magnesium and its alloys: process-formabilitymicrostructure-performance relationship and underlying mechanism

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International Journal of Extreme Manufacturing 2023年第4期5卷 247-290页

作者： Shang Sui Shuai Guo Dong Ma Can Guo Xiangquan Wu Zhongming Zhang Chunjie Xu Dan Shechtman Sergei Remennik Daniel Safranchik Rimma Lapovok School of Materials Science and Engineering Xi’an University of TechnologyXi’anShaanxi 710048People’s Republic of China Xi’an Shechtman Nobel Prize New Materials Institute Xi’an 710048People’s Republic of China Xi’an Key Laboratory of Advanced Magnesium Alloy Additive Manufacturing and Precision Forming Xi’anShaanxi 710048People’s Republic of China School of Materials Science and Engineering Liaocheng UniversityLiaochengShandong 252059People’s Republic of China Department of Materials Science and Engineering Technion-Israel Institute of TechnologyHaifa 32000Israel Center for Nanoscience&Nanotechnology Hebrew University of JerusalemEdmond J.Safra CampusJerusalem 91904Israel Israel Institute of Metals Technion CityHaifa 3200003Israel Institute for Machine Elements Engineering Design and ManufacturingFreiberg 09599Germany Geelong Waurn Ponds Campus Deakin UniversityPigdons RoadGeelongVic 3216Australia

Magnesium and its alloys,as a promising class of materials,is popular in lightweight application and biomedical implants due to their low density and good *** manufacturing(AM)of Mg and its alloys is of growing interest in academia and *** domain-by-domain localized forming characteristics of AM leads to unique microstructures and performances of AM-process Mg and its alloys,which are different from those of traditionally manufactured ***,the intrinsic mechanisms still remain unclear and need to be in-depth ***,this work aims to discuss and analyze the possible underlying mechanisms regarding defect appearance and elimination,microstructure formation and evolution,and performance improvement,based on presenting a comprehensive and systematic review on the relationship between process parameters,forming quality,microstructure characteristics and resultant ***,some key perspectives requiring focus for further progression are highlighted to promote development of AM-processed Mg and its alloys and accelerate their industrialization.

关键词： additive manufacturing magnesium alloys underlying mechanisms forming quality microstructure characteristics and properties

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