Mobile heavy duty manipulators for cooperative handling of large-scale products

用于协作搬运大型产品的移动重型机械手

• 批准号: 491110528
• 金额: --
• 依托单位: Rheinisch-Westfälische Technische Hochschule Aachen
• 依托单位国家: 德国
• 项目类别: Major Research Instrumentation
• 财政年份: 2022
• 资助国家: 德国
• 起止时间: 2021-12-31 至 无数据
• 项目状态: 未结题
• 来源: https://gepris.dfg.de/gepris/projekt/491110528?language=en
• 关键词: Mobile; heavy; duty; manipulators; cooperative

The production of sophisticated products, including in the energy generation, mobility and construction industries, is characterized by an increase in product variants and shortened innovation cycles with simultaneous cost and quality pressure. There is, therefore, a need for flexible automation to meet both the increase in demand and the quality requirements in the high-wage location. One approach to increasing the flexibility of automated assembly of demanding, usually large components is to use mobile heavy-duty manipulators instead of conventional fixed special-purpose machines. For many years, the machining and assembly of demanding components have been a focus of research in the Model-based Systems group at the Chair of Production Metrology and Quality Management (MQ) at the WZL of RWTH Aachen University. The state of research is the control of complex handling systems utilizing cooperating robots. Within model-based control systems, the deformation behavior of the components, the dynamic behavior of the robot kinematics, and measurement system influences are taken into account. Wireless communication and edge cloud systems are part of the previous research work on mobile manipulators. However, fundamental findings from this work cannot be easily transferred to automated handling and assembly of sophisticated components. One reason for this is the antiproportional stiffness increases of mobile manipulators compared to the resulting process forces when handling large components. This results in functional deviations of the assembled components and restrictions in the usability of the systems. One research focus of the Chair of Individualized Construction Production (IP), Faculty of Architecture at RWTH Aachen University, is innovative machines and complex robot-based systems in construction production. To create an environment that enables efficient, individualized batch size one production, new and user-friendly methods and flexible production systems are introduced in the construction industry. The combination of flexible robotics with intuitive methods for design-oriented process planning and robot programming enables innovative manufacturing processes in construction production.To expand the range of applications of mobile manipulators, fundamental work is needed in modeling the interaction of components and mobile robots, highly redundant motion planning, and autonomous process planning. Thus, two mobile heavy-duty manipulators consisting of an industrial robot with a payload ≥ 240 kg and reach ≥ 3,000 mm each on a mobile, area-moving self-propelled platform are requested as infrastructure for such projects. The large-scale device is further equipped with additional sensor technology and wireless communication technology.

复杂产品的生产（包括能源发电、交通和建筑行业）的特点是产品种类增加和创新周期缩短，同时面临成本和质量压力，因此需要灵活的自动化来满足这两个要求。多年来，高工资地区的需求和质量要求不断提高，提高高要求的大型部件自动化装配的灵活性的一种方法是使用移动重型机械手代替传统的固定专用机器。高要求部件的加工和组装已亚琛工业大学 WZL 生产计量和质量管理 (MQ) 系主任基于模型的系统小组的研究重点是利用基于模型的机器人来控制复杂的搬运系统。控制系统、组件的变形行为、机器人运动学的动态行为以及测量系统的影响是之前关于移动机械手的研究工作的一部分。这项工作不能轻易地转移到复杂部件的自动搬运和组装上，原因之一是与搬运大型部件时产生的过程力相比，移动机械手的刚度增加了，这导致了组装部件的功能偏差和限制。亚琛工业大学建筑学院个性化建筑生产 (IP) 主席的研究重点之一是建筑生产中的创新机器和复杂的机器人系统，以创造一个实现高效、个性化的环境。批量大小一建筑行业引入了新的、用户友好的方法和灵活的生产系统，柔性机器人技术与面向设计的工艺规划和机器人编程的直观方法相结合，实现了建筑生产中的创新制造工艺，扩大了应用范围。对于移动机械手来说，需要对组件和移动机器人的交互进行建模、高度冗余的运动规划和自主流程规划，因此，两个移动重型机械手由一个有效负载≥240公斤和伸展的工业机器人组成。此类项目的基础设施要求移动、区域移动自走式平台上的每个 ≥ 3,000 毫米。大型设备还配备了额外的传感器技术和无线通信技术。