igm collaboration in engineering. - nrwinvest.com · continental europe (>6000) general...

IGM – RWTH Aachen University: Research and Collaboration in Engineering. Opportunities and Challenges in German‐Japanese Robotics!Department of Mechanism Theory and Dynamics of Machines, RWTH Aachen University

Prof. Dr. Ing. Dr. h. c. Burkhard Corves

IGM – RWTH Aachen University: Research and Collaboration in Engineering. Opportunities and Challenges in German‐Japanese Robotics | Burkhard CorvesDepartment of Mechanism Theory and Dynamics of Machines RWTH Aachen University

Germany

Where do we come from …

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Aachen


RWTH Aachen University: Facts & Figures

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RWTH Aachen University: Facts & Figures

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ProfessorsStudents in Total

Graduates

New Enrolments

International Students Staff (Full‐Time Equivalent)

Total Budgetin Million €

44,517

8,556

10,819

7,184

540

9,264

9,053

900.0

Publications


Students in Winter Term 2016/17

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44,517 } 32% Female Students

} 68% Male Students

14,186

30,331

58% 23% 12% 7%


International Students

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• Students from 127 countries

• Most common countries of origin: China, India and Turkey

• Most common countries of origin related to the number of inhabitants: Luxembourg, Bulgaria, Belgium und Greece

• High amount of international students: 19.2 % in comparison to the average number ofstudents at German universities (10.9 %)

8,556 } 34% Female Students

} 66% Male Students

2,877

5,679


Graduates 2016

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7,184 }32% Female Graduates

} 68% Male Graduates

2,292

4,892

• One of four boards of directors of the 30 largest German corporations1 includes a graduate of RWTH Aachen University as a member.

• No other university has more graduates that are CEO of a DAX corporation.

• The nobelists Peter Debye and Thomas Südhof studied at RWTH Aachen University.

• The alumni network counts more than 16,000 members, to whom worldwide eventsare regularly offered.

1 DAX Companies in April 2017


Doctoral Degrees 2016

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893 } 33% Women

67% Men

298

595

227

74 69

565241

67180

127

Medicine Biology

MechanicalEngineering

Chemistry

ElectricalEngineering

Materials Science

PhysicsOther

Humanities andSocial Sciences

}


Total Grants and Project Funds 2016

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900.0million €

} Grants from the State of NRW

} Project Funds

481.3 million €

418.7 million €

OtherNRW Foundations

DFG (German Funding Agency)

European Union

Small, Medium & LargeIndustrial Partners

DedicatedTeaching Funds

Federal Ministry ofEducation and Researchand otherFederal Departments

million

€94.4

79.190.169.2

24.97.60.5

52.9


Various companies – from SMEs to big corporations – can become actively involved in research topics

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� One of Europe's biggest research landscapes is being built on more than 2.5 sqkm

� 800,000 sqm of space for 19 research clusters


Science and industry under one roof

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RWTH Aachen University …� … bundles a company's collaborative need with science through a

structured collaborative model. � … is mindful of the special demands of various companies, from start

ups to KMU to larger companies� … is always open to the creation of new collaboration packages that

are tailored to your company's needs.

Call for Proposals for joint R&D projects to develop� innovative products and applications in all technological and application areas� ready‐to‐market solutions for products, technology‐based services or methods which have strong

market potential

http://www.nedo.go.jp/koubo/AT091_100108.html


Japan in NRW: Düsseldorf as Capital and Japanese Hub

• Düsseldorf� Distance from Aachen: 70 km� Major hub of Japanese companies (>500)� One of the largest Japanese communities incontinental Europe (>6000)

� General Consulate of Japan� Annual Japan Day since 2002

• Activities� German Japanese Society since 2004� Visit by Consul General Mr. Mizuuchi� 10th Anniversary of Keio Summer School in 2015� RWTH Alumni Association Japan since 2017

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Scholarships for Students Exchange: from Japan to Aachen

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• RWTH Aachen University Exchange Scholarship

• For exchange stays ofBachelor and Master’s studentsof selected Japanese partner universitiesat RWTH Aachen University

9 Keio University9 Kyoto University9 Nagoya University9 Nara Institute of Science and Technology9 Osaka University9 The University of Tokyo9 Tohoku University9 Tokyo Institute of Technology

• Grant of 300 € per month


Scholarships for Students and Academic Staff Exchange: from Aachen to Japan

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• RWTH Aachen University Exchange Scholarship• MIRAI Scholarship for Japan

• For research projects ofMaster and PhD‐Studentsfrom RWTH Aachen Universityat selected partner universities


• Grant of up to 3,000 €


Scholarships for Students and Academic Staff Exchange: from Japan to Aachen

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• RWTH Aachen University Exchange Scholarship• MIRAI Scholarship for Japan• Research Fellowship Japan

• For research projects ofMaster and PhD‐Studentsfrom selected Japanese partner universities


• Grant of up to 3,000 €


03/2015: Rector of RWTH Aachen University visited TITECH06/2015: Workshop between TITECH and RWTH Aachen/Lab visit at IGM/Discussion with Prof. Takeda09/2015: TITECH‐Students visit IGM‐Lab10/2015: Meeting with Prof. Takeda at IFToMM World Congress: Identification of potential collaborative research topics12/2015: Nomination of exchange student visiting TITECH in 06/201612/2015: Proposal for a long‐lasting collaboration with FANUC (starting in 04/2016)01/2017: Support for 2 years by the German Academic Exchange Service (DAAD) with funds from the Federal Foreign

Office (FFO) / program: PAJAKO – Partnerships between Japan and Korea

Objectives� Conduct world‐class, transformative research through

collaboration among Tokyo Tech, RWTH Aachen University and Industrial Company

� Provide young researchers and engineers with opportunities for international research projects

� Development of innovative products based on high‐level science and technology, especially in Mechanical Engineering

� Establish a long‐term collaboration

Collaborative Research in the course of PAJAKO: Key concept

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Development of a High‐Performance Delta Robot

Collaborative Research Project byMechanical Systems Design Laboratory, Tokyo Institute of Technology

Department of Mechanism Theory and Dynamics of Machines, RWTH Aachen UniversityFanuc Corporation

supported by the German Academic Exchange Service (DAAD) with funds from the Federal Foreign Office (FFO)

Japanese German Collaborative Research Project

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PAJAKO – Partnerships between Japan and Korea

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Aims� to strengthen existing partnerships and initiate new bilateral partnerships between Germany and Japan in order

to facilitate� joint collaborative research projects� exchange of students, PhD‐Students, professors, etc.

� financial support for up to 2 years (starting from 01/2017)

� mobility costs (travel and living allowances) are fully covered

� sponsored by


Serial Parallel and Fully Parallel Delta‐Like Robots

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Fully parallel Delta‐like robots

Xin‐Jun LiuX4

adeptQuattro

Autonox 24 RL5‐750

FANUC M‐3iA

FANUC M‐2iA

FANUC M‐1iA

ABB IRB 360

Kawasaki YF03N

Serial parallel Delta‐like robots

CodianD5

YaskawaMPP3H

OmronX‐Delta

Industrial and academic modifications of Delta‐like robots impose high challenges on the dimensional synthesis


Dynamic Models Need to be Highly Efficient to Meet the Industrial Requirements

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4 dof

5 dof6 dof

Autonox 24 RL5‐750

FANUC M‐3iA

FANUC M‐2iA

FANUC M‐1iA

ABB IRB 360

• Current designs of Delta robots offer increased functionality, efficiency and flexibility, e.g.:� dof↑, workspace↑, payload↑, speed↑, accuracy↑, hygiene requirements↑

• Design changes place higher demands on the dynamic modeling

• Design optimization/dimensional synthesesare performed combining these dynamic modelswith effective kinematic indices

Joint collaborative research projects


IGM: Department of Mechanism Theory and Dynamics of Machines

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• Staff:� 2 Professors� 19 Research assistants� 5 Visiting scientists� 7 Non teaching staff� 45 Student research assistants

• Lectures:� Electromechanical Motion Technology� Mechanism Design� Machine Design� Kinematics, Dynamics and Application in Robotics

� Fundamentals of Machine and Structural Dynamics

� Advances Dynamics of Machines� Multi Body Dynamics� Machine elements� Vibration and Stress Measurement

• Students:� ca. 2000

• Overall turnover:� ca. 1 Mio €


Structural & Dimensional Synthesis of Mechanisms

Mechanism analysis, optimisation and tolerancemanagement

Mechanism development and design

Development of tailored Software tools

…

IGM

Mechanism Theoryand Kinematics Dynamics Robotics

Research Fields

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Mock Heart: Development of a contractive Mock Heart

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ChallengePressure, flow rate and flow properties of blood in the human heart can not be simulated properly as required for the development of ventricular assist devices.AimDevelopment of a test bench to actuate an artificial ventricle with native geometry through dedicated motion functions.

Methodology• Identification and evaluation of suitable

kinematic structures• Dimensional synthesis• Design of cam mechanisms


Mock Heart: Native Geometry and Motion

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Vizualization

speckle tracking echocardiography‐procedure


Mock Heart: Motion in the mid‐plane

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• End‐systolic volume• End‐diastolic volume• Inner ventricular wall


Mock Heart: Structural and dimensional synthesis

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Cam mechanism• Accurate realisation of transfer functions• Synchronized input motion• 3-D printed cam disks

r i,E2[m

m]

φ [rad]


MockHeart: Prototype with 3‐D Printed Cam EDisks and Contractive Ventricle

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• The


Modelling and simulation of dynamic systems

Dimensioning and optimizing of dynamic systems

Rotor dynamics

Mass‐ and power‐balacing

…

IGM


Research Fields

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Self balancing Shaker

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MotivationUnbalanced forces cause undesired vibrations in orbital shakers and thus limit the operating speed

AimDevelopment of a mechanism able to balance the forces autonomously


Development and design

Analysis, modelling andoptimization

Open‐ and closed loop control, path planning

Test benches, metrology and validation

…

IGM


Research Fields

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Robotic Device: Haptic Scenarios with different use cases

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configurable anar age – aptic eedback ystem► Various use cases

possible

► Just a change of the simulation model

► Immediate comparison of different variants

► Change of structure as well as change of parameters (e.g. lengths or masses)

► No workshop for prototyping needed


Multi‐disciplinary project approach

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Haptic Display and Visualization of a Simulated Cupboard‐Door‐Kinematic

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Development of a Micro‐Manipulator: MicMaC (Micro‐Manipulator‐Cube)

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Definition:A micro‐manipulator is a high‐precisionparallel‐kinematic robot with a work spacein the millimeter range but withmacroskopic overall dimensions

• dimensions : 180 x 180 x 180 mm³

• workspace : 4 x 4 x 4mm³

• PR1PR1 ‐ configuration

• encoder resolution : 0.1 µm


Fatigue Analysis of Compliant Joints

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MotivationExperimental studies on the fatigue of compliant joints are currently missing in research activities

AimFatigue analysis of flexure hinges by taking into account all technical aspects of material properties, design and manufacturing of flexure hinges

Methodology and Results• the parameter of the manufacturing process

are changed to achieve different surface layer (examination of microstructure)

• changes in technology as a whole were rather minor (nine trim cuts have been performed on each test specimens)

• all chosen parameter combinations generally achieve good surface quality

• results show that the chosen manufacturing technology influences the durability of the notch hinges

15 mm

10 mm

30 mm

40 µm

40 µm

xSD = 300 nm; DSD = 0°

3°

wire eroding machine


Compliant Mechanisms

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0 500 1000 1500 20000

20

40

60

80

100

120

X [mm]

Z [m

m]Initial approach: planar five‐bar linkage

• What are the optimal springs?

• What is the optimal trajectory?

• How to control the system?

Pick and Place Operations

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Motivation

• frequency of pick & place approx. 9000 picks/hour

• expected service life: 12 – 15 years

• In general only small variations in the pick and place positions

• 20% of EU´s energy consumption is accounted for by industry

Could the use of springs increase the energy efficiency?

T2(t)T1(t)

Springs


Preliminary Results

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Energy

4.7

1.81.2

‐62% ‐75%1: no Springs

2: Springs a=0

3: Springs a≠0

Characteristics for the optimization

0.6 0.4 0.81 1.3 ∆ 1.7

0.60.8 0.60.8 500

Task


Regional structure

End‐effector

Gripper

Demonstrator partExternal sensor system

Onboard sensor system

Development of Mechanisms for Multi‐Axial Draping of Preforms

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Methodology• Drape simulations provide drape trajectories• Selection of suitable planar mechanisms

to fulfill draping motions• Dimensional synthesis/multicriteria optimization

and evaluation of possible structures

Initial geometry:planar

Final geometry:multiaxial

Grippingpoints

MotivationUse of carbon fibre enforced partsnot yet widespread in mass productionAimAutomation of the handling and draping process • for objects with varying multiaxial geometries• with online detection of defects and direct

intervention• with online data reconciliation


Design requirements

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• Multiaxial complex shape (varying edges & curves of different radii)• Single layer, biaxial carbon fibre (size of about 800x800 mm²)• Constant orientation of the grippers with its contact area parallel to the x-y-plane• Loads are less than 15 N and predominantly imposed parallel to the plane of motion• Seven gripper arms are required to perform the drape motion• Mechanisms with purely planar output motion are sufficient


Endeffector

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Bots2ReC: Robots to Re‐Construction

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• Developing a Robotic System for Asbestos Removal

� launched in 02/2016 as a H2020 Innovation Action

� clearance and refurbishment of rehabilitation sites

� asbestos removal in hazardous environments

� tremendous market potential

� simplified environment allows semi‐autonomous operation

� removal tasks with high repetitionand low complexity

� adapted design and technology

[http://www.bots2rec.eu]



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• International Consortium of seven Partners

[http://www.bots2rec.eu]

� launched in 02/2016 as a H2020 Innovation Action

� clearance and refurbishment of rehabilitation sites

� asbestos removal in hazardous environments

� tremendous market potential

� simplified environment allows semi‐autonomous operation

� removal tasks with high repetitionand low complexity

� adapted design and technology


Bots2ReC: Geometric and Task‐Specific Boundary Conditions

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� limited mass of 300g due to maximum allowed load on the floor

� small 0.6x0.8m footprint and compact folding for narrow corridors

� differential drive and OmniWheelsfor easy maneuverability andfragile floor seclusion

� specific kinematics for reachability of floor & ceiling

� situation prediction to adapt footprint

� adaptive stabilization to account for processing forces and the small support polygon

mobility

perception

collaboration

9


Bots2ReC: Collaboration of Operator and Mobile Robotic Units

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� user input for task allocation via semantic mapping

� asbestos identification

� task definition and parameter specification

� process supervision

� collaboration of robotic units in a shared workspace

� autonomous task planning and sharing

� collision avoidance and trajectory generation

mobility

perception

collaboration

9

9


Bots2ReC: Navigation and Process Surveilance

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� low visibility and dust in changing environments

� local process monitoring using 1‐D radar technology

� Self‐Localization and Mapping using sensor data fusion for laser, radar and camera data

� context dependency of information

� significance and confidence of data

� weighting factors and decision logics

mobility

perception

collaboration

9

9

9



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PARAGRIP – Reconfigurable, object integrative manipulation

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Motivation

Integrating the object into the parallel‐kinematicstructure, objects can be manipulated jigless.

Aim

Development of a modular, reconfigurablesystem for object‐integrative manipulation.

Results

� New concept for reconfigurable, object‐integrative handling

� Self‐optimizing configuration planning(grasp‐ and base‐points, re‐grasping)

� Validation of the concept with a prototype

Methodology

� Structural and dimensional Synthesis

� Path‐ and reconfiguration planning

� Modeling and simulation

� Systematic Enhancement of existing modules


PARAGRIP – Prototype

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PARAGRIP vertasile and self‐optimizing modular system

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Compatibility: Integration of external handlingand measurement units

Mobility: Transportable frame with exchangeableand displaceable arm units

Modularity: Consistent modular concept

Scalability: Arbitrary expandable and quantitatively scalable

Universality: Flexible adaption to various handling scenarios


PARAGRIP vertasile assembly of large scale components

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… Heavy load handling

… as flexible jig


Active Shaping and assembly of flexible objects

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Research hypothesis

Tolerances in flexible objects can becompensated by shaping the structurewith a jiggles multi‐arm robot system.

Aim

Implementation of a demonstration handlingprocess of a flexible shell.

Results

� Algorithm for automated path‐planning using Abaqus

� Simple Black Box model for the modelling of the shell behavior

� Analysis tool for the performance of the Black‐Box model

Methodology

� FEM simulation of the shell behaviors usingchanging connection conditions during grasping

� Combinatorial investigation of possibledeformation procedures

� Simulative path‐planning, considering actingforces and stresses (quasi static analysis)

� Analytical calculation of the shell deformation


Active Shaping and assembly of flexible objects

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Simulation model Reality Test

Thank you for your attention

www.igm.rwth‐aachen.de

Contact:Department of Mechanism Theory and Dynamics of Machines RWTH Aachen UniversityKackertstraße 16‐1852072 Aachen(+49)‐241 80‐95546 [email protected]‐aachen.de

Prof. Dr.‐Ing. Dr. h. c.

Burkhard CorvesDirector

Telephone: (+49)‐241 80‐[email protected]‐aachen.de

igm collaboration in engineering. - nrwinvest.com · continental europe (>6000) general...

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