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Proceedings of the Third Conference on Mechatronics and Robotics: “From design methods to industrial applications” PDF

550 Pages·1995·15.649 MB·German
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J. Lückel (Ed.) Proceedings of the Third Conference on Mechatronics and Robotics Proceedings of the Third Conference on Mechatronics and Robotics "From design methods to industrial applications" October 4-6, 1995 Paderborn Edited by Prof. Dr.-Ing. Joachim Lückel Universität-Gesamthochschule Paderborn Springer Fachmedien Wiesbaden GmbH Die Deutsche Bibliothek - CIP-Einheitsaufnahme Conference on Mechatronics and Robotics <3, 1995, Paderbom>: Proceedings of the Third Conference on Mechatronics and Robotics, "From Design Methods to Industrial applications" : October 4-6,1995, Paderborn / ed. by Joachim Lücke!. Stuttgart : Teubner, 1995 NE: Lückel, Joachim [Hrsg.] Das Werk einschließlich aller seiner Teile ist urheberrechtlich geschützt. Jede Verwertung außerhalb der engen Grenzen des Urheberrechtsgesetzes ist ohne Zustimmung des Verla ges unzulässig und strafbar. Das gilt besonders für VervieIfältigungen, Übersetzungen, Mi kroverfilmungen und die Einspeicherung und Verarbeitung in elektronischen Systemen. © Springer Fachmedien Wiesbaden 1995 Ursprünglich erschienen bei B.G. Teubner Stuttgart 1995 Softcover reprint of the hardcover 1s t edition ISBN 978-3-519-02625-9 ISBN 978-3-322-91170-4 (eBook) DOI 10.1007/978-3-322-91170-4 Table of Contents I. Introduction J. Gausemeier, D. Brexel, T. Frank, A. Humpert Integrated Product Development -A New Approach to the Computer Aided Development in the Early Design Stages ..................................................................... 10 B. Gombert, G. Hirzinger, G. Plank, M. Schedl, J. Shi Modular Concepts for the New Generation ofD LR's Light Weight Robots ................. 30 E. Kallenbach, K. König, E. Saffert, Chr. Schäffel, M. Eccarius Integrated Design of Shape and Function in Mechatronic Systems ............................. 44 ll. Software Engineering in Mechatronics M. Anantharaman, B. Fink, M. Hiller, S. Vogel Integrated Development Environment for Mechatronic Systems .................................. 54 R. Kasper, W. Koch Object-Oriented Behavioural Modelling of Mechatronic Systems ............................... 70 J. Bielefeld, G. Pelz, G. Zimmer Analog Hardware Description Languages for Modeling and Simulation of Microsystems and Mechatronics ........................................................... 85 ID. Drive Systems K. Nishibori, S. Okuma, H. Obata Driving Characteristics of Robot Hand with Fingers using Langevin-Type Ultrasonic Motors ............................................................................... 94 P. Ph. Robet, M. Gautier, C. Bergmann Experimentalldentijication of DC Electric Drives ..................................................... 105 R. Scheidl, D. Schindler, G. Riha, W. Leitner Basics for the Energy-Efficient Control of Hydraulic Drives by Switching T echniques ................................................................................................. 118 P. Van den Braembussche, J. Swevers, H. Van Brussel, P. Vanherck Motion Control and Identijication Techniques for Machine Tool Axes ....................... 132 IV. Robot Control B. Siciliano A Unified FrameworkJor the Design oJ Interaction Control Schemes Jor Robot Manipulators ............................................................................................. 146 P. Fraisse, F. Pierrot, P. Dauchez Robust Control oJ a Two-Arm Robot: an Efficient Implementation in a DSP-based Controller ......................................................................................... 162 R. Neumann, W. Moritz Robot Path Control with aDecentral Structure .......................................................... 176 G.-W. van der Linden Design and Implementation oJ a Model-Based Nonlinear Controller Jor an Experimental Hydraulic Robot ........................................................................ 190 V. Robot Applications C. Uhrhan, R. Roshardt, G. Schweitzer User-Oriented Automation oJ Flexible Sheet Bending ................................................ 202 P. Drews, D. Matzner Smart Welder -A Mechatronic ApplicationJor Automated Shipbuilding .................... 212 W. Roddeck, H.-J. Rehbein Autonomous Tool-Mover Jor Laser-Cutting with Industrial Robots ............................ 226 N. Ahlbehrendt, H. Diesing, S. Jakobi Interactive Robot Master Slave System Jor Deburring Large Cast Iron ...................... 235 VI. Mobile Robots E. Kreuzer, F.C. Pinto Remotely Operated Vehicle -A Mechatronic System .................................................. 248 P. Alexandre, A. Preumont A Free Gait AlgorithmJor Improved Mobility Control oJWalking Machines ............. 262 M. A. Busetti de Paula, M. C. Zanella Application oJ a Simulation with Hardware-in-the-Loop Environment in Automated Guided Vehicles ....................................................................................... 276 Fr.-W. Bach, J. Seevers, M. Hahn, M. Rachkov Wall-Climbing Robots Jor Inspection and Maintenance ............................................. 286 VB. Modelling and Simulation O. Enge, G. Kielau, P. Maißer Modelling and Simulation oJ Discrete Electromechanical Systems ............................. 302 M. Kaltenbacher, F. Lindinger Software Environment Jor the Computer Modeling oJ Magnetomechanical Systems ...................................................................................... 319 H. Freudenberg, P. A. Tuan Modeling and Simulation oJ a Flexible Shuttle-Robot ................................................ 331 H. Hesse, J. Wallaschek Optimization oJ the Dynamic Behavior oJ a Wire Bonder Us ing the Concept oJ Mechatronic Function Modules ................................................................ 341 VID. Vehicles R. Busch Development oJ the Control oJ a Fully Automized Hybrid Drive ................................ 356 A. Daberkow, M. Koch, N. Ott Mechatronic System Elements Jor Traction Control oJ Light Railway Vehicles .......... 372 M. Hahn, J. Richert, J. Seuss Mechatronic Object-Oriented Modelling and Control Strategies Jor Vehicle Convoy Driving ....................................................................................... 385 A. Rükgauer, U. Petersen, W. Schiehlen Mechatronic Steering oJ a Convoy Vehicle ................................................................ .403 IX. General Aspects in Mechatronics T. Fukuda, K. Shimojima Fuzzy-Neuro-GA Based Intelligent Control ............................................................... .418 T. Raste, P. C. Müller Modeling and Control oJM echatronic Systems by Decentralized Descriptor Systems .................................................................................................... 432 W. Brockherde, D. Hammerschmidt, B. J. Hosticka Silicon Microsystems Jor Mechatronic Applications ................................................... 446 X. Real-Time Processing E. G. M. Holweg, G. Honderd, W. Jongkind Transputer Software Tool/or Robot Control Applications ........................................ .458 u. Honekamp, R. Sto1pe Design anti AppUcation 0/ a Distributed Simulation-and Runtime-Platform tor Mechatronic Systems in the Field 0/ Robot Control ............................................. .471 J. Pfefferl MERKUR: AReal-Time and Fault-Tolerant Communication System/or Mechatronic Applications .......................................................................................... 485 XI. Robots -General Aspects O.Khatib,A.Bowling Optimization 0/ the Inertial and Acceleration Characteristics 0/ Non-Redundant Manipulators ................................................................................... .500 R. Caraccio10, F. Fanton, A. Gasparetto, A. Rossi A Laser-Based 3D Correlation Procedure tor the Execution 0/ a Biomedical Task in Robotized Cell ............................................................................. 511 J. Möcke1, M. Berger, J. Schönherr Servodrive Equipped Linkages to Generate Exactly Defined Flexible and Adaptable Movements ........................................................................................ .525 M. Schlemmer, R. Finsterwalder, G. Grübe1 Avoiding Singularity Problems 0/ Manipulators with Redundant Kinematics by On-Une Dynamic Trajectory Optimization ............................................................. 538 I. Introduction J. Gausemeier, D. Brexel, T. Frank, A. Humpert Integrated Product Development -A New Approach to the Computer Aided Development in the Early Design Stages B. Gombert, G. Hirzinger, G. Plank, M. Schedl, J. Shi Modular Conceptsfor the New Generation ofDLR's Light Weight Robots E. Kallenbach Integrated Design ofS hape and Function in Mechatronic Systems Integrated Product Development A New Approach for Computer Aided Development in the Early Design Stages Jürgen Gausemeier, Dirk Brexel, Thorsten Frank, Axel Humpert Heinz Nixdorf Institut, Paderbom, Germany Abstract: The article presents the methodology of Integrated Product Development. Integrated Product Development offers a frame for structuring and integrating development acitivites and methods which are necessary for the development of complex industrial products. Conceptual Product Design is introduced and described as an essential part of Integrated Product Development in order to methodically support the development process. Conceptual Product Design aims to ensure the fulfilment of requirements, the basic workability, and the expected economic success as early as possi ble. Finally, information technology tools necessary to support Conceptual Product Design are explained. 1 Introduction In many areas, the efficiency of the product development process1 determines the ability of an industrial enterprise to compete. There are increasing requirements of the product development process. It is necessary to consider customers' demands fast and with low costs by clever product structuring. There is a change in technology. Products are getting more complex. Competition forces the periods of product development to become shorter. These challenges to product development can be mastered by two approaches: Intensirying the "Early Stages,,2: The early stages of product development determine the success or failure of a product. The product conception lays down the functions and the usability of a product as weil as the manufacturing costs and the development time [1]. A principle solution which is inadequate leads to redundant change loops and will endanger the successful introduction on the market. Therefore, "doing it right the first time" is a crucial means to enhance the ability to compete. This means to plan thoroughly and to transfer the conceptual design fast and vigorously. The product conception must be thought over until • the fulfillment of requirements, • the basic workability of the product and 1 Tbe product development process is a line of tasks ranging from the product idea to the successful in troduction on the market. Tbus, it inc1udes product planning/product marketing, development/design, work scheduling an building the means of production. 2 Tbe early stages of product development consist of product planning and conceptual product design. Tbey result in a priciple solution.

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