Fraunhofer-Institut für Produktionsanlagen und Konstruktionstechnik IPK

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  • Publication
    HEPHESTOS: Hard material small-batch industrial machining robot
    ( 2014)
    Schreck, G.
    ;
    Surdilovic, D.
    ;
    Krüger, J.
    In September 2012 a European collaborative project was launched entitled "Hard Material Small-Batch Industrial Machining Robot (HEPHESTOS)". HEPHESTOS' main objective is to develop novel technologies for the robotic hard material removal that will provide standard industrial robots with advanced techniques in machining planning, programming and real-time control. Hard materials machining has recently attracted great attentions from the advanced industries, in particular, the European automotive, the aerospace and the biomedical industries. However, the existing technology failed to provide these industries with a cost efficient solution to cope with small-batch production of large and complex-shaped products. The project HEPHESTOS, with its focus on developing sophisticated methods in robotic manufacturing, shall give rise to a cost-efficient solution in hard materials machining for this small-batch production of highly customized products through the application of industrial robots.
  • Publication
    Advanced methods for small batch robotic machining of hard material
    ( 2012)
    Krüger, J.
    ;
    Schreck, G.
    ;
    Surdilovic, D.
    ;
    Zhao, H.
  • Publication
    Dual arm robot for flexible and cooperative assembly
    ( 2011)
    Krüger, J.
    ;
    Schreck, G.
    ;
    Surdilovic, D.
    Dual-arm robots provide efficient approach for automated execution of complex assembly operations. With bimanual-manipulation, a dual-arm robot can simultaneously control relative motion and interaction of assembly counterparts in a dexterous human-like manner. This requires, however, sophisticated programming and control algorithms for arms cooperation. This paper addresses the development of an advanced industrial dual-arm robot system with novel capabilities, such as easy and rapid commissioning, compliance control of bimanual interaction in all assembly process phases, as well as intuitive planning and programming. The robot can be leased and easily integrated in assembly environment sharing the same workspace with human workers.
  • Publication
    Flexible assembly systems through workplace-sharing and time-sharing human-machine cooperation (PISA)
    ( 2010)
    Krüger, J.
    ;
    Katschinski, V.
    ;
    Surdilovic, D.
    ;
    Schreck, G.
  • Publication
    PISA: Next generation of flexible assembly systems - from initial ideas to industrial prototypes
    ( 2010)
    Krüger, J.
    ;
    Katschinski, V.
    ;
    Surdilovic, D.
    ;
    Schreck, G.
    In September 2006 an integrated European project (IP) was launched entitled "Flexible Assembly Systems through Workplace-Sharing and Time-Sharing Human-Machine Cooperation (PISA)". The general aim of the project is to develop intelligent assist systems (IAS) in order to support the human worker instead of replace him. The idea is to combine human flexibility, intelligence and skills with the advantages of sophisticated technical systems. Further developments within the project are focused on reconfigurability and reusability of assembly equipment, and required planning tools for end-users. The paper presents the initial project objectives, and the resulting prototype systems developed by the partners of the PISA consortium.
  • Publication
    Helfer mit Gefühl - Kraftgeregelte Robotersysteme
    ( 2009)
    Krüger, J.
    ;
    Surdilovic, D.
    ;
    Schreck, G.
  • Publication
    Helfer mit Gefühl
    ( 2009)
    Krüger, J.
    ;
    Surdilovic, D.
    ;
    Schreck, G.
    Der Einsatz von Industrierobotern zur Durchführung oder Nachbildung menschlicher Handlungen mit einer kraftschlüssigen Führung beweglicher Objekte wird anhand der Analyse des Öffnungsverhaltens von Lebensmittelverpackungen aufgezeigt. Durch die integrierte Sensorik erhält der Roboter nicht nur die Fähigkeit, den Widerstand oder die Nachgiebigkeit seiner Umgebung zu fühlen, sondern wird über entsprechende Regelungsverfahren selbst in die Lage versetzt, auf Krafteinwirkungen nachgiebig reagieren zu können, zum Beispiel, um geführt durch einen Werker seine Lage zu verändern. Grundlage für Untersuchungen zum Öffnungsprozess von 'Peel-Verschlüssen' bildet ein Messaufbau für die manuelle 3D-Bewegungserfassung des Öffnungsvorgangs. Das Ermitteln der Handbewegung erfolgt über ein kamerabasiertes 3D-Motion-Tracking-System. Zeitsynchron erfasst ein 6D-Kraft-Momentensensor die Prozesskräfte. Bei der Durchführung von Prüfungen mittels eines kraftgeregelten Industrieroboters bilden die aus Probandentests ermittelten Kenngrößen die Grundlage für die Programmierung des Roboters zur Nachbildung des menschlichen Verhaltens. Somit lässt sich die erforderliche Datengrundlage für die Analyse und Auswertung von Probandentests erstellen.