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Entwicklung eines modularisierten mobilen Manipulatorsystems für die flexible automatisierte Montage
(2017)
Industry 4.0 is still in its development phase and it promises to bring remarkable benefits to the manufacturing industry around the world when employing the Smart Factory application in large organizations and their supply chains. However, there is a risk of a miss-match when trying to introduce Industry 4.0 to Small and Medium Enterprises (SME) as the concept is mainly being developed around large manufacturing companies. The purpose of this research is to analyze the readiness level and feasibility of implementing Industry 4.0 technologies for SME’s in the federal state of Brandenburg (Germany). The work is based on the survey of 20 SME’s assessing their current problems emphasizing on automation, Enterprise Resource Planning (ERP), CAD/CAM, factory layout planning and logistics. Five SME’s from different domains out of the 20 surveyed are taken as case studies to evaluate the potential benefits, trade-offs and barriers from an implementation of these integrated technologies. The findings revealed that the companies are still coping with the issues relating to planning, logistics and automation. It was also found that all the concepts of i4.0 may not be necessary or even beneficial to an enterprise in the current scenario and new strategies need to be developed for its realization in SME’s.
This paper presents a novel approach for automated smart factory based on the ideas of Internet of Things (IoT) and the usage of mobile technology of the german „Industry 4.0“ [6]. IoT enables the achievement of greater value and service by exchanging data between different devices and the manufacturer. The data collected from all devices will be exchanged via wireless networks. Mobile technology can be used to cover non value-added processes [3] i.e. transportation in the manufacturing. By combining transportation tasks and value adding production steps, waste of production time, cost and effort can be reduced. This paper presents the first step toward this approach [7]: the mobile robot moves alongside the moving object and executes the manufacturing tasks during its transportation. For the demonstration of the developed solution a mobile
platform and an optical measurement system was used. The synchronization between the mobile platform and the object will be experimentally tested. Consequently the results will demonstrate how the mobile robot is able to follow the moving object.
Die steigende Produktvielfalt und die Anforderung nach höherer Flexibilität in der Produktion sowie nach Steigerung der Produktivität erfordern im industriellen Umfeld eine Erhöhung des Automatisierungsgrades. Vor diesem Hintergrund steigert sich der Robotereinsatz in der Industrie seit Jahren. Jedoch liegt der Automatisierungsgrad im Montagebereich immer noch auf einem niedrigen Niveau, weil entweder der hohe Zeitbedarf zur Entwicklung eines Robotersystems und/oder der hohe Aufwand zur Umsetzung ins Zielsystem hinderlich auf die Erhöhung des Automatisierungsgrads wirken. In diesem Paper wird eine neue Methode zur Entwicklung eines Robotersystems für Montageaufgabe vorgestellt. Diese Methode zielt auf Erstellung einer Montageaufgabe durch Anwendung der Erweiterten Realität (Augmented Reality, Abkürzung AR). Eine virtuelle Montageaufgabe mit virtuellen Bauteilen wird händisch ausgeführt, dadurch wird diese Montageaufgabe visualisiert dargestellt und automatisch im Zielsystem erstellt.
In this paper the use of a mobile lightweight robot is evaluated to perform an assembly task while simultaneously moving. The motion of the mobile platform results into a variable end effector position in space. The paper assesses
the existing method of placing a screw in an assembly where the location of placement is variable due to end effector movement. Experiments have been conducted to evaluate the task performance by monitoring the applied force on the
end effector, the position data and the task time. The results show that with impedance configuration, a moveable compliant robot is a possible solution for use in assembly operation.
In this paper a flexible robot system for assembly operations in a semi structured environment is proposed. The system uses a moveable robot equipped with an arbitrarily mounted 3D camera and a 2D camera on the robot gripper for accurate object detection. The system is developed based on the Robot Operating System (ROS) and uses the state of the art trajectory planner MoveIt for collision free robot motion planning. The object recognition for the system is performed using a combination of the two camera's and robot end effector and the deviation of objects in the robot workspace is found to be in the range of 2.2 mm along X and Y axes. Furthermore, an implementation procedure of the proposed system for assembly task is explained.