Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021.

• Author: Schüppstuhl, Thorsten.
• TeilnehmendeR: Tracht, Kirsten.; Raatz, Annika.
• Place / Publishing House: Cham : : Springer International Publishing AG,, 2021.; {copy}2022.
• Year of Publication: 2021
• Edition: 1st ed.
• Language: English
• Physical Description: 1 online resource (400 pages)

Table of Contents

Intro -- Contents -- Assembly Planning -- 1 Generic Modeling Technique for Flexible and Highly Available Assembly Systems -- 1 Introduction -- 2 Related Works -- 3 Previous Works -- 4 Theoretical Background of the Work -- 4.1 Petri Nets -- 4.2 Marking Graphs -- 4.3 Refinement Action Engine -- 4.4 Planners -- 4.5 Automated Planning and Acting -- 5 Extension of the Modeling Technique -- 6 Developed Control System -- 6.1 Planner -- 6.2 Optimizing the Generated Plans -- 7 Conclusion and Outlook -- 2 Transmitter Positioning of Distributed Large-Scale Metrology Within Line-Less Mobile Assembly Systems -- Abstract -- 1 Introduction -- 2 Distributed Large-Scale Metrology Within Assembly Systems -- 2.1 Approaches for Transmitter Positioning -- 2.2 Requirements for iGPS Transmitter Positioning Within LMAS -- 3 Particle-Swarm-Optimization for Transmitter Positioning -- 3.1 Particle-Swarm-Optimization -- 3.2 Fitness Function and Penalty Terms -- 3.3 Assembly Simulation for Particle Evaluation and Optimization Procedure -- 4 Verification on Assembly Use Case -- 4.1 Description of Simulated Use Case -- 4.2 Analysis of Simulation Results -- 5 Conclusion and Outlook -- Acknowledgements -- References -- 3 Optimized High Precision Stacking of Fuel Cell Components for Medium to Large Production Volumes -- Abstract -- 1 Introduction and Motivation -- 2 Fuel Cell Stack Assembly -- 2.1 State of the Art -- 2.2 Concept for a Scalable and Flexible Production System -- 2.3 Materials in Fuel Cells -- 2.4 Constraints -- 2.5 Investigation of Position Accuracy -- 2.6 Analysis of the Assembly Procedure and Tolerances -- 3 Summary and Outlook -- Acknowledgements -- References -- 4 Mobile, Modular and Adaptive Assembly Jigs for Large-Scale Products -- Abstract -- 1 Introduction -- 2 Jigs and Fixtures for Assembling Aircraft Components -- 3 Development of Adaptive Assembly Jig.

3.1 Requirements Analysis -- 3.2 Basic Concept for an Adaptive Jig -- 3.3 Draft Design of Assembly Wheel -- 4 Derivation of a Physical Demonstrator -- 5 Conclusion and Outlook -- Acknowledgements -- References -- 5 Design of an Automated Assembly Station for Process Development of All-Solid-State Battery Cell Assembly -- Abstract -- 1 Introduction -- 2 Handling-Affecting Material Properties of Lithium Metal Anode and All-Solid-State Electrolyte -- 3 Handling in Battery Cell Production -- 3.1 Battery Cell Assembly Process -- 3.2 Handling Principles in Battery Cell Assembly -- 4 Design of an Automated Assembly Station -- 5 Experimental Evaluation of Handling Processes in the Automated Assembly Station -- 6 Conclusion -- Acknowledgements -- References -- Grasping -- 6 Combined Structural and Dimensional Synthesis of a Parallel Robot for Cryogenic Handling Tasks -- 1 Introduction and State of the Art -- 2 Task Definition and Requirements -- 2.1 Requirements for the Parallel Robot -- 2.2 Requirements for the Solid-State Joints -- 3 Engineering Approach and First Prototype -- 4 Combined Structural and Dimensional Synthesis -- 5 Discussion of the Results of the Synthesis -- 6 Summary and Outlook -- Literatur -- 7 Secure Clamping of Parts for Disassembly for Remanufacturing -- Abstract -- 1 Introduction -- 2 Current State of the Art of Clamping Devices in Disassembly for Remanufacturing Applications -- 3 Concept of the Clamping System for Disassembly for Remanufacturing -- 3.1 Extracting Requirements -- 3.2 Concept Proposal -- 4 Prototype Clamping System -- 5 Conclusion and Future Work -- Acknowledgements -- References -- 8 Aerial Grasping and Transport Using an Unmanned Aircraft (UA) Equipped with an Industrial Suction Gripper -- 1 Introduction -- 2 Related Work -- 3 Methodology and System Design -- 3.1 Object Identification and Localization.

3.2 UA Localization -- 4 Evaluation -- 4.1 Retention Force of the Suction Gripper -- 4.2 Object Detection and Localization -- 4.3 Grasping Success Rate -- 5 Summary and Conclusion -- 9 Computing Gripping Points in 2D Parallel Surfaces Via Polygon Clipping -- Abstract -- 1 Introduction -- 2 State of the Art -- 2.1 Polygon Clipping -- 2.2 Gripping Point Determination and Intersection Detection -- 3 Gripping Point Determination with an Intersection Detection -- 3.1 Preprocessing -- 3.2 Gripping Point Determination Via Polygon Clipping -- 4 Evaluation -- 4.1 Test Objects and Evaluation Criteria -- 4.2 Restrictions -- 5 Results -- 6 Conclusion -- References -- 10 Concept for Robot-Based Cable Assembly Regarding Industrial Production -- Abstract -- 1 Introduction -- 2 State of the Art -- 2.1 Industrial Solutions -- 2.2 Research Approaches -- 2.3 Evaluation of the State of the Art -- 3 Concept -- 3.1 Supply -- 3.2 Grasping -- 3.3 Manipulation -- 3.4 Joining -- 3.5 Inspection -- 4 Conclusion and Outline -- Acknowledgements -- References -- Human-Machine Interaction -- 11 Improving the Understanding of a Remote Environment by Immersive Man-Machine Interaction -- 1 Introduction -- 2 Current Developments in Man-Machine Interaction -- 2.1 Remote Operation -- 2.2 Reliability -- 3 Immersive HMI -- 3.1 The Concept -- 4 Application: Forestry -- 4.1 Visualizing the Information -- 5 Application: Mobile Robotics -- 5.1 3D Visualization -- 5.2 Input Devices -- 5.3 Interaction -- 5.4 Different Area of Application -- 6 Conclusion -- Literatur -- 12 Towards a Modular Elbow Exoskeleton: Concepts for Design and System Control -- Abstract -- 1 Introduction -- 2 Determination of Main Requirements -- 2.1 Analysis of Connectable Exoskeletons -- 2.2 Analysis of Intended Tasks -- 2.3 Analysis of Human Anthropometry and Kinematics -- 3 Design and System Control Concepts.

3.1 Design Approaches -- 3.2 System Control Strategies -- 3.3 Assessment in View to Modularity and Intended Tasks -- 4 Realization of Functional Prototype -- 5 Conclusion and Outlook -- References -- 13 Adaptive Motion Control Middleware for Teleoperation Based on Pose Tracking and Trajectory Planning -- Abstract -- 1 Motivation -- 2 Related Work: Motion Control in Teleoperation Systems -- 3 Adaptive Motion Control Middleware for Teleoperation -- 3.1 Overview: HMI, Middleware and ROS-Adaptive Control Driver -- 3.2 Motion Control -- 3.3 Adaptive Control-Mode Switching -- 4 Experimental Setup and Evaluation -- 4.1 System Setup and Qualitative Evaluation -- 4.2 Quantitative Evaluation of Pose Tracking Motion Control -- 5 Summary, Conclusion and Future Work -- Acknowledgements -- References -- 14 Approach of a Decision Support Matrix for the Implementation of Exoskeletons in Industrial Workplaces -- Abstract -- 1 Introduction -- 2 Approaches for Classification of Support Situations -- 3 Influencing Dimensions of the Decision Process -- 3.1 Characteristics of Tasks in Industrial Workplaces -- 3.2 Technical Properties of Exoskeletons -- 4 Development of a Tool Providing Decision Support -- 4.1 Determination of Decision-supporting Dimensions -- 4.2 Selection of a Display Method -- 4.3 Creation and Application of the Decision Support Matrix -- 5 Application Example -- 6 Conclusion and Outlook -- Acknowledgements -- References -- 15 An Approach to Integrate a Blockchain-Based Payment Model and Independent Secure Documentation for a Robot as a Service -- Abstract -- 1 Introduction -- 2 State of the Art and Initial Situation -- 2.1 Rent-a-Robot and Robot as a Service -- 2.2 Blockchain and the Alternative IOTA -- 3 Concept for Expanding the Business Model Robot as a Service with Blockchain -- 3.1 Pay-per-Use Via Crypto Currency.

3.2 Independent Data Certification for Manipulation-proof Documentation of Process Data, Events and Logs -- 4 Conclusion and Outlook -- References -- Human-Robot Collaboration -- 16 Human Body Simulation Within a Hybrid Operating Method for a Safe and Efficient Human-Robot Collaboration -- 1 Introduction -- 1.1 Related Work -- 1.2 Novelty and Objective -- 2 Preliminary Work -- 2.1 Simulation Tool for Human-Robot Collaboration -- 2.2 Method of a Hybrid Collaborative Operation -- 3 Kinematic States of Human Body Areas -- 4 Evaluation -- 5 Conclusion and Future Work -- 17 Towards Semi Automated Pre-assembly for Aircraft Interior Production -- Abstract -- 1 Introduction -- 1.1 Motivation and Problem Statement -- 1.2 Automation Approaches for Interior Production -- 1.3 Outline -- 2 Pre-assembly of Aircraft Interior -- 2.1 Range of Components in Pre-assembly -- 2.2 Range of Pre-assembly Tasks -- 3 Semi-Automated Assembly of Aircraft Interior -- 3.1 Automation-Oriented Classification of Parts and Their Corresponding Assembly Processes -- 3.2 Parametrized Assembly Processes -- 3.3 Research Demonstrator for Hybrid-Assembly -- 4 Discussion -- 5 Summary and Future Work -- Acknowledgements -- References -- 18 An Approach for Direct Offline Programming of High Precision Assembly Tasks on 3D Scans Using Tactile Control and Automatic Program Adaption -- Abstract -- 1 Motivation -- 2 State of the Art -- 2.1 Robotic Peg-In-Hole Assembly -- 2.2 3D-Scanning of Industrial Settings for Production Planning -- 2.3 Research Gap and Need for Action -- 3 Methodology -- 3.1 Precision 3D-Scanning and Surface Reconstruction -- 3.2 Tactile Assembly Strategies and Data-Driven Program Adaption -- 4 Validation -- 4.1 Evaluation of Scanning Accuracy -- 4.2 Performance of Compensation Strategies -- 5 Discussion -- 6 Conclusion and Outlook -- References -- Industry 4.0.

19 Implementation of Innovative Manufacturing Technologies in Foundries for Large-Volume Components.