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Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021.

Bibliographic Details
Main Author: Schüppstuhl, Thorsten.
Other Authors: Tracht, Kirsten., Raatz, Annika.
Format: eBook
Language:English
Published: Cham : Springer International Publishing AG, 2021.
Edition:1st ed.
Subjects:
Electronic books.
Online Access:Click to View
Table of Contents:
  • Intro
  • Contents
  • Assembly Planning
  • 1 Generic Modeling Technique for Flexible and Highly Available Assembly Systems
  • 1 Introduction
  • 2 Related Works
  • 3 Previous Works
  • 4 Theoretical Background of the Work
  • 4.1 Petri Nets
  • 4.2 Marking Graphs
  • 4.3 Refinement Action Engine
  • 4.4 Planners
  • 4.5 Automated Planning and Acting
  • 5 Extension of the Modeling Technique
  • 6 Developed Control System
  • 6.1 Planner
  • 6.2 Optimizing the Generated Plans
  • 7 Conclusion and Outlook
  • 2 Transmitter Positioning of Distributed Large-Scale Metrology Within Line-Less Mobile Assembly Systems
  • Abstract
  • 1 Introduction
  • 2 Distributed Large-Scale Metrology Within Assembly Systems
  • 2.1 Approaches for Transmitter Positioning
  • 2.2 Requirements for iGPS Transmitter Positioning Within LMAS
  • 3 Particle-Swarm-Optimization for Transmitter Positioning
  • 3.1 Particle-Swarm-Optimization
  • 3.2 Fitness Function and Penalty Terms
  • 3.3 Assembly Simulation for Particle Evaluation and Optimization Procedure
  • 4 Verification on Assembly Use Case
  • 4.1 Description of Simulated Use Case
  • 4.2 Analysis of Simulation Results
  • 5 Conclusion and Outlook
  • Acknowledgements
  • References
  • 3 Optimized High Precision Stacking of Fuel Cell Components for Medium to Large Production Volumes
  • Abstract
  • 1 Introduction and Motivation
  • 2 Fuel Cell Stack Assembly
  • 2.1 State of the Art
  • 2.2 Concept for a Scalable and Flexible Production System
  • 2.3 Materials in Fuel Cells
  • 2.4 Constraints
  • 2.5 Investigation of Position Accuracy
  • 2.6 Analysis of the Assembly Procedure and Tolerances
  • 3 Summary and Outlook
  • Acknowledgements
  • References
  • 4 Mobile, Modular and Adaptive Assembly Jigs for Large-Scale Products
  • Abstract
  • 1 Introduction
  • 2 Jigs and Fixtures for Assembling Aircraft Components
  • 3 Development of Adaptive Assembly Jig.
  • 3.1 Requirements Analysis
  • 3.2 Basic Concept for an Adaptive Jig
  • 3.3 Draft Design of Assembly Wheel
  • 4 Derivation of a Physical Demonstrator
  • 5 Conclusion and Outlook
  • Acknowledgements
  • References
  • 5 Design of an Automated Assembly Station for Process Development of All-Solid-State Battery Cell Assembly
  • Abstract
  • 1 Introduction
  • 2 Handling-Affecting Material Properties of Lithium Metal Anode and All-Solid-State Electrolyte
  • 3 Handling in Battery Cell Production
  • 3.1 Battery Cell Assembly Process
  • 3.2 Handling Principles in Battery Cell Assembly
  • 4 Design of an Automated Assembly Station
  • 5 Experimental Evaluation of Handling Processes in the Automated Assembly Station
  • 6 Conclusion
  • Acknowledgements
  • References
  • Grasping
  • 6 Combined Structural and Dimensional Synthesis of a Parallel Robot for Cryogenic Handling Tasks
  • 1 Introduction and State of the Art
  • 2 Task Definition and Requirements
  • 2.1 Requirements for the Parallel Robot
  • 2.2 Requirements for the Solid-State Joints
  • 3 Engineering Approach and First Prototype
  • 4 Combined Structural and Dimensional Synthesis
  • 5 Discussion of the Results of the Synthesis
  • 6 Summary and Outlook
  • Literatur
  • 7 Secure Clamping of Parts for Disassembly for Remanufacturing
  • Abstract
  • 1 Introduction
  • 2 Current State of the Art of Clamping Devices in Disassembly for Remanufacturing Applications
  • 3 Concept of the Clamping System for Disassembly for Remanufacturing
  • 3.1 Extracting Requirements
  • 3.2 Concept Proposal
  • 4 Prototype Clamping System
  • 5 Conclusion and Future Work
  • Acknowledgements
  • References
  • 8 Aerial Grasping and Transport Using an Unmanned Aircraft (UA) Equipped with an Industrial Suction Gripper
  • 1 Introduction
  • 2 Related Work
  • 3 Methodology and System Design
  • 3.1 Object Identification and Localization.
  • 3.2 UA Localization
  • 4 Evaluation
  • 4.1 Retention Force of the Suction Gripper
  • 4.2 Object Detection and Localization
  • 4.3 Grasping Success Rate
  • 5 Summary and Conclusion
  • 9 Computing Gripping Points in 2D Parallel Surfaces Via Polygon Clipping
  • Abstract
  • 1 Introduction
  • 2 State of the Art
  • 2.1 Polygon Clipping
  • 2.2 Gripping Point Determination and Intersection Detection
  • 3 Gripping Point Determination with an Intersection Detection
  • 3.1 Preprocessing
  • 3.2 Gripping Point Determination Via Polygon Clipping
  • 4 Evaluation
  • 4.1 Test Objects and Evaluation Criteria
  • 4.2 Restrictions
  • 5 Results
  • 6 Conclusion
  • References
  • 10 Concept for Robot-Based Cable Assembly Regarding Industrial Production
  • Abstract
  • 1 Introduction
  • 2 State of the Art
  • 2.1 Industrial Solutions
  • 2.2 Research Approaches
  • 2.3 Evaluation of the State of the Art
  • 3 Concept
  • 3.1 Supply
  • 3.2 Grasping
  • 3.3 Manipulation
  • 3.4 Joining
  • 3.5 Inspection
  • 4 Conclusion and Outline
  • Acknowledgements
  • References
  • Human-Machine Interaction
  • 11 Improving the Understanding of a Remote Environment by Immersive Man-Machine Interaction
  • 1 Introduction
  • 2 Current Developments in Man-Machine Interaction
  • 2.1 Remote Operation
  • 2.2 Reliability
  • 3 Immersive HMI
  • 3.1 The Concept
  • 4 Application: Forestry
  • 4.1 Visualizing the Information
  • 5 Application: Mobile Robotics
  • 5.1 3D Visualization
  • 5.2 Input Devices
  • 5.3 Interaction
  • 5.4 Different Area of Application
  • 6 Conclusion
  • Literatur
  • 12 Towards a Modular Elbow Exoskeleton: Concepts for Design and System Control
  • Abstract
  • 1 Introduction
  • 2 Determination of Main Requirements
  • 2.1 Analysis of Connectable Exoskeletons
  • 2.2 Analysis of Intended Tasks
  • 2.3 Analysis of Human Anthropometry and Kinematics
  • 3 Design and System Control Concepts.
  • 3.1 Design Approaches
  • 3.2 System Control Strategies
  • 3.3 Assessment in View to Modularity and Intended Tasks
  • 4 Realization of Functional Prototype
  • 5 Conclusion and Outlook
  • References
  • 13 Adaptive Motion Control Middleware for Teleoperation Based on Pose Tracking and Trajectory Planning
  • Abstract
  • 1 Motivation
  • 2 Related Work: Motion Control in Teleoperation Systems
  • 3 Adaptive Motion Control Middleware for Teleoperation
  • 3.1 Overview: HMI, Middleware and ROS-Adaptive Control Driver
  • 3.2 Motion Control
  • 3.3 Adaptive Control-Mode Switching
  • 4 Experimental Setup and Evaluation
  • 4.1 System Setup and Qualitative Evaluation
  • 4.2 Quantitative Evaluation of Pose Tracking Motion Control
  • 5 Summary, Conclusion and Future Work
  • Acknowledgements
  • References
  • 14 Approach of a Decision Support Matrix for the Implementation of Exoskeletons in Industrial Workplaces
  • Abstract
  • 1 Introduction
  • 2 Approaches for Classification of Support Situations
  • 3 Influencing Dimensions of the Decision Process
  • 3.1 Characteristics of Tasks in Industrial Workplaces
  • 3.2 Technical Properties of Exoskeletons
  • 4 Development of a Tool Providing Decision Support
  • 4.1 Determination of Decision-supporting Dimensions
  • 4.2 Selection of a Display Method
  • 4.3 Creation and Application of the Decision Support Matrix
  • 5 Application Example
  • 6 Conclusion and Outlook
  • Acknowledgements
  • References
  • 15 An Approach to Integrate a Blockchain-Based Payment Model and Independent Secure Documentation for a Robot as a Service
  • Abstract
  • 1 Introduction
  • 2 State of the Art and Initial Situation
  • 2.1 Rent-a-Robot and Robot as a Service
  • 2.2 Blockchain and the Alternative IOTA
  • 3 Concept for Expanding the Business Model Robot as a Service with Blockchain
  • 3.1 Pay-per-Use Via Crypto Currency.
  • 3.2 Independent Data Certification for Manipulation-proof Documentation of Process Data, Events and Logs
  • 4 Conclusion and Outlook
  • References
  • Human-Robot Collaboration
  • 16 Human Body Simulation Within a Hybrid Operating Method for a Safe and Efficient Human-Robot Collaboration
  • 1 Introduction
  • 1.1 Related Work
  • 1.2 Novelty and Objective
  • 2 Preliminary Work
  • 2.1 Simulation Tool for Human-Robot Collaboration
  • 2.2 Method of a Hybrid Collaborative Operation
  • 3 Kinematic States of Human Body Areas
  • 4 Evaluation
  • 5 Conclusion and Future Work
  • 17 Towards Semi Automated Pre-assembly for Aircraft Interior Production
  • Abstract
  • 1 Introduction
  • 1.1 Motivation and Problem Statement
  • 1.2 Automation Approaches for Interior Production
  • 1.3 Outline
  • 2 Pre-assembly of Aircraft Interior
  • 2.1 Range of Components in Pre-assembly
  • 2.2 Range of Pre-assembly Tasks
  • 3 Semi-Automated Assembly of Aircraft Interior
  • 3.1 Automation-Oriented Classification of Parts and Their Corresponding Assembly Processes
  • 3.2 Parametrized Assembly Processes
  • 3.3 Research Demonstrator for Hybrid-Assembly
  • 4 Discussion
  • 5 Summary and Future Work
  • Acknowledgements
  • References
  • 18 An Approach for Direct Offline Programming of High Precision Assembly Tasks on 3D Scans Using Tactile Control and Automatic Program Adaption
  • Abstract
  • 1 Motivation
  • 2 State of the Art
  • 2.1 Robotic Peg-In-Hole Assembly
  • 2.2 3D-Scanning of Industrial Settings for Production Planning
  • 2.3 Research Gap and Need for Action
  • 3 Methodology
  • 3.1 Precision 3D-Scanning and Surface Reconstruction
  • 3.2 Tactile Assembly Strategies and Data-Driven Program Adaption
  • 4 Validation
  • 4.1 Evaluation of Scanning Accuracy
  • 4.2 Performance of Compensation Strategies
  • 5 Discussion
  • 6 Conclusion and Outlook
  • References
  • Industry 4.0.
  • 19 Implementation of Innovative Manufacturing Technologies in Foundries for Large-Volume Components.

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