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

Vogel‐Heuser, Birgit; Zimmermann, Markus; Stahl, Karsten; Land, Kathrin; Ocker, Felix; Rötzer, Sebastian; Landler, Stefan; Otto, Michael

doi:10.1109/smc42975.2020.9282988

Cited by 10 publications

(3 citation statements)

References 16 publications

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“…So far, there are no adequate calculation models for these transmissions that would be needed to compare the different types and select a transmission systematically. (Vogel-Heuser et al, 2020) Rosenbauer (1995 provides some characteristics that are measured experimentally. He points out seven relevant assessment criteria that influence the accuracy of the robot.…”

Section: Transmissions In Robot-like Systemsmentioning

confidence: 99%

Mbse Incorporating Time-Dependent Behavior for the Design of Robot-Like Systems

Ziegler,

Volpert,

Amm

et al. 2023

Proc. Des. Soc.

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Complex systems typically consist of many components and are subject to many requirements. Approaches like the V-Model support complex systems design by providing guidelines on how to break down large systems into smaller pieces. Models built with SysML provide documentation on an abstract level. However, neither incoporates detailed information on components that may be relevant for design decisions. In robot-like systems, e.g., the choice of transmissions will depend on the system dynamics of the robot. This is modeled in the time domain, where detailed time-dependent component interaction is considered. The design perspective, however, is best represented in the property domain. Here, requirements on static component properties are formulated.This paper presents a generic approach that connects the property and time domains to enable early-stage design decisions. The approach is applied to a 1-link robot system with a simple demonstrator transmission model, including properties that are typically not considered in the early design phase, like a nonlinear stiffness characteristic with backlash.

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Section: Transmissions In Robot-like Systemsmentioning

confidence: 99%

Mbse Incorporating Time-Dependent Behavior for the Design of Robot-Like Systems

Ziegler,

Volpert,

Amm

et al. 2023

Proc. Des. Soc.

Self Cite

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“…There is a trend towards using DSL and models to crestandardate visual notations that are more familiar to industrial automation practitioners [8]. Multi-model approaches in the early design phase allow investigating system performance more transparently [9].…”

Section: B Multi-agent-systems and Dsl4rasmentioning

confidence: 99%

“…The system setup includes a storage agent (supermarket cell), a path planning agent ("Central.AI"), a logistics agent (MiR Transporter Robot), an assembly agent (Franka Emika Panda Fig. 2: Use Case Description of this work based on previous DSL design [8], [9] with lab implementations of the agents robot), and the digital twin agent (implemented by the AAS, MS Azure Digital Twin, and Nvidia Omniverse), cp. Fig.…”

Section: B Basic Assumptionsmentioning

confidence: 99%

Delay Modelling and Measurement of Multi-Agent Systems with Digital Twins in a Gear Assembly Use Case

Vogel-Heuser,

Deshpande,

et al. 2023

2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)

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In the context of increasing automation and digitization of production processes, efficient communication and coordination among agents in Multi-Agent-Systems (MAS) is crucial for achieving optimal performance and productivity. This study analyzes a MAS's communication and coordination processes utilized in a gearbox assembly scenario. The system is decomposed based on the assembly process, focusing on delay times. Messages are classified based on sender and receiver agents, communication protocols, message types, and query content. Local and network delays of each communication message are measured and compared to modeled delays. The results indicate that modeling delay times before implementation can lead to a more efficient approach to elaborating on complex systems' hard and soft real-time capabilities. The delay times estimated through the analysis can be employed in forthcoming models, enabling the modeling of delay times before system implementation. Additionally, the generalizability of the findings allows for their application to repetitive modules within production systems.

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Automation in the Wood, Paper, and Fiber Industry

Vogel‐Heuser

2023

Springer Handbooks

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

Cited by 10 publications

References 16 publications

Mbse Incorporating Time-Dependent Behavior for the Design of Robot-Like Systems

Mbse Incorporating Time-Dependent Behavior for the Design of Robot-Like Systems

Delay Modelling and Measurement of Multi-Agent Systems with Digital Twins in a Gear Assembly Use Case

Automation in the Wood, Paper, and Fiber Industry

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