System architecture and modular design of robot-like systems using multidimensional characteristic diagrams

使用多维特征图的类机器人系统的系统架构和模块化设计

• 批准号: 461993234
• 负责人: Professor Dr.-Ing. Karsten Stahl
• 金额: --
• 依托单位: Lehrstuhl für Maschinenelemente
• 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/461993234?language=en
• 关键词: System; architecture; modular; design; robot

In order to survive in a highly competitive market environment by ensuring profitability in industrial production, companies must develop robot-like systems (RAS) more efficiently for both low-cost and high-end applications. The project proposed considers machines and systems that go beyond manipulators only. Instead, the project focuses on machines for which the parameterization of synchronized or clocked master-slave multi-drive systems is not very robust. In such cases subsequent reparameterisation is often necessary. The behaviour of robot-like systems depends, for example, on factors such as humidity, temperature or temperature gradients in the production hall and the wear of drive components in particular and mechatronics in general. Basically, comprehensive knowledge of the properties of the relevant modules is required for the development of novel robotic systems, the optimization of system performance, and their automation-related adaptation to compensate for mechanical effects. This applies in particular to the components of the drive and automation technology, including the software and the communication network. Within the scope of this research project, a multidisciplinary description language (DSL4RAS) for the software and hardware properties of robotic drive components is to be defined. This language allows engineers to systematically and comprehensively record all relevant influences on component and system behaviour and to make them accessible for design. This approach enables a top-down development of the system architecture with a precise formulation of requirements for subsystems, e.g., of motion sequences and their systematic breakdown into the components involved. Because of this process, comprehensive and multidisciplinary specifications for modules can be derived, which specify all relevant technical aspects with sufficient requirements for the fulfilment of the objective. Thus, the development of components is modularised, i.e., made separable. This can be used to design cost optimized product families. DSL4RAS aims to provide the system control a priori with comprehensive information through a holistic system description. Modular assemblies can be stored with multidimensional characteristic diagrams that map the effects of environmental influences and load-historical impacts, such as changing backlash or friction. This way, the overall system behaviour can be reliably predicted even in the case of a changing environment or a changing behaviour of individual components. This allows engineers to take the behaviour into account already during design and an automated adjustment even during operation is enabled.

为了在竞争激烈的市场环境中生存并确保工业生产的盈利能力，公司必须更有效地开发适用于低成本和高端应用的类机器人系统（RAS）。拟议的项目仅考虑机械手以外的机器和系统。相反，该项目重点关注同步或时钟主从多驱动系统参数化不太稳健的机器。在这种情况下，通常需要进行后续的重新参数化。例如，类机器人系统的行为取决于生产车间的湿度、温度或温度梯度等因素，以及驱动部件（特别是机电一体化）的磨损等因素。基本上，开发新型机器人系统、优化系统性能及其与自动化相关的适应以补偿机械效应，需要对相关模块的属性有全面的了解。这尤其适用于驱动和自动化技术的组件，包括软件和通信网络。在该研究项目的范围内，将定义一种用于机器人驱动组件的软件和硬件属性的多学科描述语言（DSL4RAS）。这种语言允许工程师系统地、全面地记录对组件和系统行为的所有相关影响，并使其易于设计。这种方法可以通过精确制定子系统的要求（例如运动序列及其系统分解为所涉及的组件）来实现系统架构的自上而下的开发。通过这个过程，可以得出全面的、多学科的模块规范，其中规定了所有相关的技术方面，并为实现目标提供了充分的要求。因此，组件的开发是模块化的，即可分离的。这可用于设计成本优化的产品系列。 DSL4RAS旨在通过整体系统描述为系统控制提供先验的全面信息。模块化组件可以存储多维特征图，这些特征图映射环境影响和负载历史影响的效果，例如改变间隙或摩擦力。这样，即使在环境变化或单个组件行为变化的情况下，也可以可靠地预测整个系统的行为。这使得工程师可以在设计过程中考虑到这种行为，并且即使在操作过程中也可以进行自动调整。