Mobile heavy duty manipulators for cooperative handling of large-scale products

复杂产品的生产，包括在能源生产、交通运输和建筑行业，其特点是产品种类增加，创新周期缩短，同时带来成本和质量压力。因此，需要灵活的自动化，以满足高工资地区需求和质量要求的增长。一种增加要求高的、通常是大型部件的自动化装配的灵活性的方法是使用移动的重型机械手来代替传统的固定的专用机器。多年来，要求苛刻的部件的加工和装配一直是亚琛大学WZL生产计量和质量管理（MQ）主席基于模型的系统小组的研究重点。研究的状态是复杂的搬运系统的控制，利用合作的机器人。在基于模型的控制系统中，考虑了部件的变形行为、机器人运动学的动态行为以及测量系统的影响。无线通信和边缘云系统是移动的机械手的前期研究工作的一部分。然而，这项工作的基本发现不能轻易地转移到自动化处理和组装复杂的组件。其中一个原因是，与处理大型部件时产生的过程力相比，移动的机械手的刚度呈反比增加。这导致组装部件的功能偏差和系统可用性的限制。亚琛工业大学建筑学院个性化建筑生产（IP）主席的研究重点之一是建筑生产中的创新机器和复杂的机器人系统。为了创造一个能够实现高效、个性化批量生产的环境，建筑行业引入了新的用户友好的方法和灵活的生产系统。柔性机器人技术与面向设计的工艺规划和机器人编程的直观方法相结合，可以在建筑生产中实现创新的制造工艺。为了扩大移动的机械手的应用范围，需要在建模组件和移动的机器人的相互作用、高度冗余的运动规划和自主工艺规划方面做基础工作。因此，需要两个移动的重型机械手，包括一个工业机器人，其有效载荷≥ 240 kg，每个机械手在一个移动的区域移动自推进平台上达到≥ 3，000 mm，作为此类项目的基础设施。该大型设备还配备了额外的传感器技术和无线通信技术。

The production of sophisticated products, including in the energy generation, mobility and construction industries, is characterized by an increase in product variants and shortened innovation cycles with simultaneous cost and quality pressure. There is, therefore, a need for flexible automation to meet both the increase in demand and the quality requirements in the high-wage location. One approach to increasing the flexibility of automated assembly of demanding, usually large components is to use mobile heavy-duty manipulators instead of conventional fixed special-purpose machines. For many years, the machining and assembly of demanding components have been a focus of research in the Model-based Systems group at the Chair of Production Metrology and Quality Management (MQ) at the WZL of RWTH Aachen University. The state of research is the control of complex handling systems utilizing cooperating robots. Within model-based control systems, the deformation behavior of the components, the dynamic behavior of the robot kinematics, and measurement system influences are taken into account. Wireless communication and edge cloud systems are part of the previous research work on mobile manipulators. However, fundamental findings from this work cannot be easily transferred to automated handling and assembly of sophisticated components. One reason for this is the antiproportional stiffness increases of mobile manipulators compared to the resulting process forces when handling large components. This results in functional deviations of the assembled components and restrictions in the usability of the systems. One research focus of the Chair of Individualized Construction Production (IP), Faculty of Architecture at RWTH Aachen University, is innovative machines and complex robot-based systems in construction production. To create an environment that enables efficient, individualized batch size one production, new and user-friendly methods and flexible production systems are introduced in the construction industry. The combination of flexible robotics with intuitive methods for design-oriented process planning and robot programming enables innovative manufacturing processes in construction production.To expand the range of applications of mobile manipulators, fundamental work is needed in modeling the interaction of components and mobile robots, highly redundant motion planning, and autonomous process planning. Thus, two mobile heavy-duty manipulators consisting of an industrial robot with a payload ≥ 240 kg and reach ≥ 3,000 mm each on a mobile, area-moving self-propelled platform are requested as infrastructure for such projects. The large-scale device is further equipped with additional sensor technology and wireless communication technology.