Model-based design of granulate-based grippers for the form-variable handling in automated production

基于颗粒的夹具的模型设计，用于自动化生产中的形状可变处理

• 批准号: 450839725
• 负责人: Professor Dr.-Ing. Klaus Dröder
• 金额: --
• 依托单位: Institut für Partikeltechnik
• 依托单位国家: 德国
• 项目类别: Research Grants
• 资助国家: 德国
• 项目状态: 未结题
• 来源: https://gepris.dfg.de/gepris/projekt/450839725?language=en
• 关键词: Model; based; design; granulate; grippers

Increasing component complexity and variant diversity lead to major challenges in automated production, especially in the flexibilization of parts handling. The disordered provision of highly variant components in containers results in a number of technical challenges for the automated separation of these components (bin picking). Since standardized end effectors have usually been used in bin picking up to now, more and more effort is being put into sensor-based localization of individual components to ensure a robust separation process. However, it is still unknown how the need for adaptive web planning can be reduced by sufficiently universal and robust gripping technology. This is the basis for the fundamental research required for the efficient implementation of bin picking processes using variable shape gripping technology. In this project, a model-based design method for a handling system designed at IWF will therefore be elaborated. The efficient process-specific design, configuration and control of the handling system is to be enabled for the robust implementation of bin picking processes. The research approach is based on own preliminary work, in which a granulate-based handling technology for variable shape and area gripping was proposed and a design methodology based on static characteristic maps was developed. While this technology enables a significant increase in flexibility with regard to gripping a wide variety of objects with the same tool, the complexity of gripper design increases at the same time. With previous experimental design approaches, it was necessary to simplify the considered cause-and-effect relationships in order to be able to control the design complexity. It must be accepted that although the solutions generated can be realized at high experimental cost, they may be far from an optimal solution. The limited solution quality and the low design efficiency motivate research into new design methods for granule-based handling technology. The model-based design methodology to be developed in this project enables an active decision to be made on the design effort to be invested. Depending on the expected effort-dependent result quality of the gripper design (using an empirical meta model and spatially resolved numerical discrete element simulation), this methodology suggests a suitable downstream process planning strategy that enables a robust bin picking process. On the basis of a component spectrum, the design methodology is developed, experimentally validated and generalized for transferability to similar problems. The result is a transferable reference procedure based on the developed design methodology, which takes into account the combined design effort and quality.

不断增加的部件复杂性和变体多样性给自动化生产带来了重大挑战，尤其是在部件处理的灵活性方面。在容器中无序地提供高度变化的组分导致了这些组分的自动分离（箱拾取）的许多技术挑战。由于标准化的末端执行器通常被用于仓拾取到现在，越来越多的努力被投入到基于传感器的单个组件的定位，以确保一个强大的分离过程。然而，仍然不知道如何通过足够通用和强大的夹持技术来减少对自适应网络规划的需求。这是基础研究所需的有效实施的垃圾箱采摘过程中使用可变形状的抓取技术。因此，在本项目中，将详细阐述IWF设计的装卸系统的基于模型的设计方法。处理系统的有效的特定过程设计、配置和控制将被启用，以稳健地实施箱子拾取过程。研究方法是基于自己的前期工作，其中一个基于颗粒的处理技术的可变形状和区域的抓取和设计方法的基础上开发的静态特性图。虽然这项技术能够显著提高使用同一工具夹持各种物体的灵活性，但同时也增加了夹持器设计的复杂性。对于以前的实验设计方法，有必要简化所考虑的因果关系，以便能够控制设计的复杂性。必须接受的是，虽然产生的解决方案可以实现在高实验成本，他们可能是远离最佳解决方案。有限的解决方案的质量和低设计效率激励研究到新的设计方法为颗粒为基础的处理技术。基于模型的设计方法将在这个项目中开发，使一个积极的决定，要投资的设计工作。根据预期的努力依赖的结果质量的夹具设计（使用经验的Meta模型和空间分辨的数值离散元模拟），这种方法提出了一个合适的下游工艺规划策略，使一个强大的箱子拾取过程。的基础上的组成部分频谱，设计方法的开发，实验验证和推广的可移植性类似的问题。其结果是一个可转让的参考程序的基础上开发的设计方法，考虑到综合设计工作和质量。