@techreport{HornfeckLoefflerLandkammer2023, author = {Hornfeck, R{\"u}diger and L{\"o}ffler, Robin and Landkammer, Stefan}, title = {M{\"o}gliche, zuk{\"u}nftige Robotergelenke nach biologischem Vorbild}, address = {N{\"u}rnberg}, organization = {Technische Hochschule Georg Simon Ohm}, doi = {10.34646/thn/ohmdok-932}, url = {http://nbn-resolving.de/urn:nbn:de:bvb:92-opus4-9329}, pages = {3 -- 14}, year = {2023}, abstract = {Roboter halten in vielen Bereichen unserer Gesellschaft immer mehr Einzug. Dies bedeutet auch, dass der Mensch gemeinsam mit dem Roboter Arbeiten verrichten muss, ohne dass es zu Verletzungen kommt. Um dieses Ziel zu erreichen, sind neben den bisherigen mechatronischen Systemen auch neue Konstruktionsprinzipien gefragt. Konstruktionsbeispiele f{\"u}r nachgiebige Gelenke liefert die Natur. Am Beispiel einer bionischen Konstruktion nach dem Vorbild eines Spinnenbeins wird die Realisierung eines Softroboters „BioFlexRobot" vorgestellt. Abschließend werden die Einsatzgrenzen dieses Gelenkroboters aufgezeigt und m{\"o}gliche neue Forschungsfelder zur Leistungssteigerung aufgezeigt.}, language = {de} } @article{LoefflerTremmelHornfeck2023, author = {L{\"o}ffler, Robin and Tremmel, Stephan and Hornfeck, R{\"u}diger}, title = {Owl-Neck-Spine-Inspired, Additively Manufactured, Joint Assemblies with Shape Memory Alloy Wire Actuators}, series = {Biomimetics}, volume = {8}, journal = {Biomimetics}, number = {1}, publisher = {MDPI AG}, issn = {2313-7673}, doi = {10.3390/biomimetics8010117}, pages = {19}, year = {2023}, abstract = {Nature provides a considerable number of good examples for simple and very efficient joint assemblies. One example is the enormously flexible cervical spine of American barn owls, which consists of 14 cervical vertebrae. Each pair of vertebrae produces a comparatively small individual movement in order to provide a large overall movement of the entire cervical spine. The biomimetic replication of such joints is difficult due to the delicate and geometric unrestricted joint shapes as well as the muscles that have to be mimicked. Using X-ray as well as micro-computed tomography images and with the utilisation of additive manufacturing, it was possible to produce the owl neck vertebrae in scaled-up form, to analyse them and then to transfer them into technically usable joint assemblies. The muscle substitution of these joints was realised by smart materials actuators in the form of shape memory alloy wire actuators. This actuator technology is outstanding for its muscle-like movement and for its high-energy density. The disadvantage of this wire actuator technology is the low rate of contraction, which means that a large length of wire has to be installed to generate adequate movement. For this reason, the actuator wires were integrated into additively manufactured carrier components to mimic biological joints. This resulted in joint designs that compensate for the disadvantages of the small contraction of the actuators by intelligently installing large wire lengths on comparatively small installation spaces, while also providing a sufficient force output. With the help of a test rig, the developed technical joint variants are examined and evaluated. This demonstrated the technical applicability of this biomimetic joints.}, language = {en} } @article{LoefflerRueckerMuelleretal.2021, author = {L{\"o}ffler, Robin and R{\"u}cker, Daniel and M{\"u}ller, Fabian and Hornfeck, R{\"u}diger}, title = {Method for simulative reproduction, verification and technical adaptation as part of biological kinematics studies}, series = {Procedia CIRP}, volume = {100}, journal = {Procedia CIRP}, publisher = {Elsevier BV}, issn = {2212-8271}, doi = {10.1016/j.procir.2021.05.138}, pages = {649 -- 654}, year = {2021}, language = {en} } @article{LoefflerKoch2019, author = {L{\"o}ffler, Robin and Koch, Michael}, title = {Innovative Extruder Concept for Fast and Efficient Additive Manufacturing}, series = {IFAC-PapersOnLine}, volume = {52}, journal = {IFAC-PapersOnLine}, number = {10}, publisher = {Elsevier BV}, issn = {2405-8963}, doi = {10.1016/j.ifacol.2019.10.071}, pages = {242 -- 247}, year = {2019}, abstract = {The current standard for the production of 3D printed components with the "Fused Deposition Modelling" (FDM) process allows the use of one or two printing nozzles with fixed diameters. The selected diameter of the nozzle represents a suboptimal compromise between the highest possible level of detail and a large flow rate to shorten the printing time. This paper describes the new concept of a rotatable print head with a slot-shaped nozzle opening and the real implementation of the print head in an FDM machine. The innovative concept presented here opens up new possibilities for the free adjustment of line widths to be printed and thus also of variable layer heights in a wide range. With the additional parameters achieved with this method, the printing time of parts with a high degree of detail, if necessary, can be enormously reduced. In addition, the modified printing nozzle and the modification of the program code used for conventional FDM machines are described.}, language = {en} }