Schlagwort: ‘Bahnplanung’
IGOR Tper: The Robot with non-spherical wrist
The next generation of our robot is designed. The new robot is called IGOR Tper. This robot has a non-spherical wrist, that makes the motion planning for the robot rather challenging.
Contact:
Markus Schmitz
Development of new wrists for the Paragrip
In a joint research project of the IGMR together with the ISF of the RWTH Aachen University, the Multidirectional Additive Manufacturing (MDAM) of metallic components is being researched. In order to optimize the multi-armed. Paragrip robot for this application, student Raphael Hoffmann has developed an innovative concept of a new robotic wrist in his bachelor thesis. The concept enables the welding current to be conducted directly through the wristsm without the need for an additional ground cable attached to the print bed. Moreover, the wrists enable form fitting gripping of the print bed with self-centering to minimize positioning inaccuracies.
You can find the video on our YouTube channel: https://youtu.be/VdT1rjYG4D0
Contact:
Jan Wiartalla
How construction site robots work on a wall
The in-house developed robot has 7 degrees of freedom, which are realized exclusively via revolute joints. Due to the redundancy, the robot can also develop its full performance in narrow situations such as corridors or niches. The video on the left shows a vertical trajectory in which the robot works on a wall from the floor to a height of 2.50m. The video on the right shows the horizontal trajectory of a wall immediately in front of the robot.
More information about this project can be found on the IGMR Website.
Contact person:
ReConBot – Ein rekonfigurierbarer Roboter
Durch die gezielte Beeinflussung der Roboterstruktur in Form von zusätzlichen Gelenken, können rekonfigurierbare Roboter synthetisiert werden. Diese zeichnen sich über zusätzliche innere Freiheitsgrade aus, welche eine innere Beweglichkeit des Roboters erlauben, ohne eine Posenänderung des Endeffektors zu bewirken. Dies wird häufig bei seriellen Strukturen zur Vermeidung von Kollisionen eingesetzt, wobei sich aber auch parallele Strukturen mit geschlossenen kinematischen Ketten dazu eignen. Am IGMR wurde der ReConBot als parallele Struktur entwickelt, welche durch die kinematische Redundanz auch für einen Strukturwechsel geeignet ist. So ist es möglich unterschiedlichste Konfigurationsräume miteinander zu verbinden und auch die Struktur von einem Vierglied oder Fünfglied zu realisieren, indem sonst aktuierte Gelenke antriebslos geschaltet werden. Der ReConBot zielt auf den hochflexiblen Einsatz in den anspruchsvollen Szenarien des Katastrophenschutz ab.
Ansprechpartner:
Manipulator-specific path planning for multidirectional additive manufacturing
In a joint research project between the IGMR and the ISF of RWTH Aachen University, research is being conducted on the Multidirectional Additive Manufacturing of metallic components.
With the aid of Multidirectional Additive Manufacturing (MDAM), it is possible to build complex components layer by layer and without the need for support structures. By moving the base plate by means of an industrial robot while the welding gun remains fixed, the component to be printed can always be oriented in such a way that support structures can be avoided. The major challenge lies in the consideration of specialized welding processes with external wire feeding and the use of sensors for process monitoring. This results in a dependency of the orientation of the welding gun compared to the currently printed path.
As part of his master’s thesis, Jan Wiartalla developed a path planning algorithm that calculates an executable and, if possible, continuous path within specified, flat part slices that completely fills the cross-sectional area. This is done robot-specific, so that the algorithm always takes the robot currently in use as well as its limitations into account. A standardized interface allows for the robot model to be easily exchanged and the algorithm can thus quickly be adapted to different test environments. The video illustrates the algorithm’s procedure in a simplified way.
https://youtu.be/chuD57ja9JE
Contacts:
Multidirectional additive manufacturing in arc welding process
In collaboration with the ISF, RWTH Aachen, we at IGMR are researching Multidirectional Additive Manufacturing. In this application for the production of metal components.
Multidirectional Additive Manufacturing enables the production of complex components without support structures, both in the classic FDM process with plastic and with layer-by-layer buildup in the arc welding process. At IGMR, the entire process chain of additive manufacturing is being extended to meet the special challenges of this process from a robotic perspective. This includes the slicing of a virtual component into layers, the subsequent planning of a collision-free structure, the generation of executable robot paths for filling the layers as well as the necessary trajectory planning.
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Contact person:
Markus Schmitz
Carlo Weidemann
https://youtu.be/vYejNjBSUp8
