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Holistic animation and functional solution for digital manikins in context of virtual assembly simulations

Procedia CIRP 2021年 97卷 15-20页

作者： Christian Fuchs Christoph Allmacher Philipp Klimant Matthias Putz Institute for Machine Tools and Production Processes Chemnitz University of Technology Reichenhainer Straße 70 09126 Chemnitz Germany Fraunhofer Institute for Machine Tools and Forming Technology Reichenhainer Straße 88 09126 Chemnitz Germany

Assembly simulations in virtual reality were used increasingly in recent years. Even though a multitude of solutions exists in the commercial market, research is focusing on improving soft factors like usability and financial accessibility. Therefore, this paper proposes a holistic solution for animation and integration of functionality of a digital manikin in Unity. The solution is using Unity's integrated inverse kinematics system and physics engine. The result is a fully animated human manikin based on the tracking data of a head-mounted display and its two controllers, which is extrapolating motion data for untracked body parts. Furthermore, the solution enables the user to manipulate objects and explore the virtual environment. The solution is validated in comparison to established motion capture methods using joint error analysis.

关键词： Virtual reality Digital manikins Motion capture Inverse kinematics Animation Assembly simulation

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Ultrasonic Vibration assisted Silver Integration by Powder Mixed EDM for Antibacterial Surfaces

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Procedia CIRP 2024年 123卷 410-415页

作者： Viet D. Bui André Martin Thomas Berger Karsten Harnisch Joachim Döring Jessica Bertrand Andreas Schubert Chemnitz University of Technology Professorship Micromanufacturing Technology Reichenhainer Str. 70 09126 Chemnitz Germany Otto-von-Guericke University Magdeburg Institute of Materials and Joining Technology Universitätsplatz 2 39106 Magdeburg Germany Otto-von-Guericke University Magdeburg Department of Orthopaedic Surgery Leipziger Str. 44 39120 Magdeburg Germany Fraunhofer Institute for Machine Tools and Forming Technology Reichenhainer Str. 88 09126 Chemnitz Germany

Powder mixed electrical discharge machining (PMEDM) with silver nano-powder has demonstrated its potential capability in antibacterial surface modification. Analyses in the cross-sectional layer showed that silver was mainly integrated near the topmost surface layer, and its content is reduced within the layer towards the substrate. However, to achieve a long-term antibacterial efficacy, silver needs to be deeply integrated in the modified layer. Previous studies indicated that ultrasonic vibration (UV) assisted PMEDM can homogenize the silver content in the deposited layer. In this study, the effect of UV on the silver distribution within the modified layer is investigated. Ti6Al4V workpieces were stimulated by UV with a frequency of 22.3 kHz and an amplitude of 2.5 µm. Hydrocarbon-based dielectric fluid, mixed with silver nano-powder with concentrations up to 15 g/L, were internally flushed through a hollow tool with a pressure of 4 bar. PMEDM without UV was investigated for comparison. The layer thickness, micro-cracks and the cross-sectional distribution of deposited silver were analysed by confocal microscopy, scanning electron microscopy, and energy-dispersive X-ray spectroscopy. Results indicate that applying UV leads to the highest silver content in the middle region of the layer, a significant decrease of micro-cracks and a slight reduction of the layer thickness.

关键词： powder mixed EDM ultrasonic vibration silver distribution modified layer antibacterial effect

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Laser structuring with DLIP technology of tungsten carbide with different binder content 12

Laser structuring with DLIP technology of tungsten carbide w...

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12th CIRP Conference on Photonic Technologies, LANE 2022

作者： Teicher, Uwe Baumann, Robert Bouraoui, Yasmine Achour, Anas Ben Lasagni, Andrés Fabián Ihlenfeldt, Steffen Fraunhofer Institute for Machine Tools and Forming Technology IWU Nöthnitzer Straße 44 Dresden01187 Germany Institute for Manufacturing Technology Technische Universität Dresden George-Baehr-Str. 3c Dresden01069 Germany Fraunhofer Institute for Material and Beam Technology IWS Winterbergstraße 28 Dresden01277 Germany Institute of Mechatronic Engineering Technische Universität Dresden Helmholtzstraße 7a Dresden01069 Germany

In machining, tool wear is one of the main influence factors for the resulting quality of the product. Several wear mechanisms have to be addressed to prevent unwanted deterioration of the tool integrity. For aluminium alloys, adhesion of the workpiece material on the cutting tool is one of the most challenging wear mechanisms. Engineering surface microtopographies has been proved as a convenient strategy to tackle this issue. Particularly, the direct laser interference patterning (DLIP) technique enables the integration of periodic structures on the micrometer or sub-micrometer scale. In this study the structuring of tungsten carbide with different cobalt content is presented. The interference of two laser beams leads to periodic line-like structures with a spatial period of 5.5 µm. A maximum structure depth of 2.2 µm is reached by controlling the processing parameters. Moreover, the wettability of the structured samples was analyzed by contact angle measurements with selected cooling lubricants, revealing a hydrophilic behavior with a decreased contact angle of 10°. This work gives an insight into the possibilities of structuring tungsten carbide materials with a picosecond laser source in combination with an innovative beam shaping setup from the point of view of an analysis to explore the formation of structured surfaces and their wetting behavior with cooling lubricants. © 2022 The Authors. Published by Elsevier B.V.

关键词： Tungsten carbide

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Automated design of product-flexible car body fixtures with software-supported part alignment using particle swarm optimization 13

Automated design of product-flexible car body fixtures with ...

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13th CIRP Conference on Intelligent Computation in Manufacturing Engineering, CIRP ICME 2019

作者： Fritzsche, Rayk Voigt, Eric Schaffrath, Robert Todtermuschke, Marcel Röber, Marcel Group Assembly systems Fraunhofer Institute for Machine Tools and Forming Technology IWU Reichenhainer Straße 88 Chemnitz09126 Germany Fraunhofer Institute for Machine Tools and Forming Technology IWU Reichenhainer Straße 88 Chemnitz09126 Germany Dep. Assembly Systems Fraunhofer Institute for Machine Tools and Forming Technology IWU Reichenhainer Straße 88 Chemnitz09126 Germany

The Fraunhofer IWU has been developed specialized clamping robots for production of different car-models on one fixture. As a base for the fixture design, a method for optimal part alignment has been developed. For handling multitude of possibilities regarding the alignment of parts from different car-models, a specific software tool using particle swarm optimization has been created. The objective was to achieve similar travels for all clamping robots in this fixture. To facilitate the integration of the automated part alignment into fixture design, a further software. © 2020 The Authors.

关键词： Particle swarm optimization (PSO)

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Examination of the variance in human pathways in HRC with heavy duty-robots for safe process planning 13

Examination of the variance in human pathways in HRC with he...

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13th CIRP Conference on Intelligent Computation in Manufacturing Engineering, CIRP ICME 2019

作者： Bdiwi, Mohamad Harsch, Ann-Kathrin Reindel, Paul Putz, Matthias Fraunhofer Institute for Machine Tools and Forming Technology IWU Reichenhainerstr. 88 Chemnitz09126 Germany

Compared to robots, human pathways are individually changeable. Particularly the human-robot-collaboration (HRC) with heavy-duty robots carry high risk potentials. To ensure safety and efficiency, the human variance in pathways should be determined in the planning of HRC. Hence this paper presents a method to investigate human pathway variations in a real study. In systematically selected tasks, human pathways are examined for 100 participants in manual and human-robot collaboration (HRC) scenarios. As a result, the variations of pathways are presented depending on various features: in nearly all cases the variance of women's walking pathways is smaller than that of men. © 2020 The Authors.

关键词： Robot programming

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The Challenge of Open Cellular Metal Foam Production 11th

The Challenge of Open Cellular Metal Foam Production

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11th International Conference on Porous Metals and Metallic Foams, MetFoam 2019

作者： Hannemann, Christian Uhlig, Mandy Hipke, Thomas Meier, Iris Fraunhofer-Institute for Machine Tools and Forming Technology Reichenhainer Str. 88 Chemnitz09126 Germany

ISBN: (纸本)9783030427979

Five years ago Fraunhofer-IWU started research in open cellular metal structures as the potential applications increased based upon their exceptional properties. Heat exchangers, filters, and battery electrodes are examples of potential applications. As casted aluminum foams were in serial production and Fraunhofer in close cooperation with the manufacturer, the interest was limited to prototyping of individual foams especially in combination with solid regions for fixing, encasing, or sub-division. New parameter combinations and technological processes were developed and the advantages, limitations, and potentials are described within this document. Alternatively, galvanic coating of PUR foams with copper, nickel, and other metals is common, again buyable and state of the art. R&D activities related to application development and adapted geometries not yet realizable by conventional mass production will be shown. Investigations for graded strut-structures and cylindrical tube-like parts were intensified to reach serial production level. The lecture represents investigations, results, dropped, and new approaches of all routes. © 2020, The Minerals, Metals & Materials Society.

关键词： Metal foams

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Comparison of abrasive water jet technologies in terms of performance and kerf geometry accuracy for cutting ceramics

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International Journal of Sustainable Manufacturing 2020年第2-4期4卷 201-215页

作者： Morczinek, Florian Putz, Matthias Dix, Martin Chemnitz University of Technology Reichenhainer Straße 70 Chemnitz09126 Germany Fraunhofer Institute for Machine Tools and Forming Technology IWU Reichenhainer Straße 88 Chemnitz09126 Germany

Hard machining of brittle materials such as ceramics is a process-oriented challenge. For the machining of such materials, abrasive water jet cutting is an appropriate alternative to the commonly used diamond grinding and laser cutting processes. In abrasive water jet machining the injection technology is currently used almost exclusively. Due to the realisation of the suspension jet technology a higher cutting performance can be achieved. In this article, the known injection technology and the suspension technology are compared. To do so, the influences on the quality were examined for trimming technical ceramics. The investigation illustrates that suspension technology trims with a higher accuracy than injection technology in matters of kerf geometry but with a lower material removal rate. © 2020 Inderscience Enterprises Ltd.

关键词： Jets

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Position and force controlled pneumatic chuck for high precision machining 21

Position and force controlled pneumatic chuck for high preci...

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21st International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2021

作者： Eckert, Udo Ben-Hanan, Uri Koriath, Hans-Joachim Mende, Mattias Weiss, Avi Wertheim, Rafi Azaria, Udi Fraunhofer Institute for Machine Tools and Forming Technology Chemnitz09126 Germany ORT Braude College Snunit Street 51 PO Box 78 Karmiel2161002 Israel Henri Azaria PAL Ltd.

ISBN: (纸本)9780995775190

This paper presents the development of a clamping system, including force controlled jaws, a method for position and orientation control in the XY, XZ and YZ planes, based on a visual pattern identification and a numerical compensation of the workpiece position, integrated into the machine tool control unit. Reproducible correction of workpiece position and orientation were investigated, evaluated, and combined to form the new adaptive workpiece clamping system to ensure accurate positioning and clamping repeatability. The developed system is made of an air (pneumatic) chuck with 3 clamping jaws, used for holding the workpiece with a defined clamping force, controlled by air pressure. A tilting device combined with a rotating table for inclination adjustment of the XY plane, controlled by the vision identification device, is used to measure and correct the position and orientation of the workpiece. A developed algorithm for X and Y motion of the machine tool axes as a function of the visually identified values enables repositioning of the workpiece after re-clamping. The clamping forces are measured by strain gauges. The design of the associated jaws is based on FEM analysis to ensure small elastic deformations, allowing for accurate clamping forces. The visual identification of the workpiece position and movement algorithm were tested with the pneumatic chuck on a high precision CNC machine tool. The developed system provided in X and Y direction a repeatability of pattern positioning within 1.1 µm, which is three times better compared to the initial chuck reclamping repeatability. © 2021 Proceedings of the 21st International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2021. All rights reserved.

关键词： Pneumatics

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Bin Picking Pneumatic-Mechanical Gripper for Industrial Manipulators

Bin Picking Pneumatic-Mechanical Gripper for Industrial Mani...

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2021 International Conference on High technology for Sustainable Development, HiTech 2021

作者： Ivanov, Vladislav Aleksandrov, Angel Bdiwi, Mohamad Popov, Aleksander Rashid, Aquib Pershina, Zhanna Kolker, Aleksey Dimitrov, Lubomir Technical University of Sofia Dept. for Machine Elements and Non-Metallic Constructions Sofia Bulgaria Line 3: Fraunhofer Institute for Machine Tools and Forming Technology Robot System Department Chemnitz Germany Novosibirsk State Technical Universirty Falulty of Automation Russia

ISBN: (纸本)9781665448734

The human body is an advanced and complex machine. A simple task like grasping an object, which is done intuitively, has puzzled researchers for decades. For each object, humans have a suitable grip to grab it optimally and safely. Even for objects which we have never seen before, we can choose the best possible grip and can adapt as the environment changes to get a better grip based on cognition and experience. One of the main capabilities of humans is their ability to learn about unfamiliar things and processes. This capability helps us adapt to different situations and still be able to solve a problem. This works focuses on developing a self-learning robotic system which can replicate the human learning capabilities in a handing-over task. The proposed system consists of two submodules: 1) Vision analysis and environment monitoring, which provides accurate global and local information about the area in which the robot has to hand over the specific object;2) Safe and flexible bin-picking gripper, which handles various objects with complex geometries. The work is a consortium of 3 partners: IWU Chemnitz (Germany), Novosibirsk State Technical University (Russia) and Technical University of Sofia (Bulgaria) under European program *** RUS PLUS 2017 © 2021 IEEE.

关键词： Industrial manipulators

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Subjective validation for short-term material flow simulation

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Procedia CIRP 2025年 134卷 562-566页

作者： Heiner Reinhardt Boran Bogdanow Roman Arnold Bastian Prell Philipp Klimant Frank Seifert Mahtab Mahdaviasl Steffen Ihlenfeldt Fraunhofer Institute for Machine Tools and Forming Technology IWU Reichenhainer Straße 88 09126 Chemnitz Germany Volkswagen Sachsen GmbH Kauffahrtei 47 09120 Chemnitz Germany Technical University of Applied Sciences Wildau Hochschulring 1 15745 Wildau Germany Professorship Virtual Technologies Hochschule Mittweida - University of Applied Sciences Technikumplatz 17 09648 Mittweida Germany Chemnitz University of Technology Straße der Nationen 62 09111 Chemnitz Germany Institute of Machine Tools and Control Engineering Technische Universität Dresden Helmholtzstraße 7a 01062 Dresden Germany

Material flow simulation, by means of discrete event simulation (DES), is frequently applied to support decision-making in production planning and control. However, manual modeling can be time-consuming and error-prone. Hence, numerous studies propose the automation of model generation and synchronization to overcome these challenges. However, in this context, validation techniques are rarely addressed. Therefore, we introduce a subjective validation technique for short-term material flow simulation based on a coherent methodology for data acquisition and visualization. The methodology is utilized to evaluate the outcome of an approach for computerized model generation and simulation. By means of an industrial use case, we hypothesize the causes for the deviation between the operation of a manufacturing system and the simulation of its generated virtual companion.

关键词： Digital Twin Simulation Quality Optimization Manufacturing system Control Analysis

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