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Large Manipulators for CIM

Objective

The objective of this project is to develop a large-reach, high-load manipulator to move workpieces or tools precisely in a programmable task execution mode. Important applications for robotics are foreseen, from workpiece handling in new shop-floor layouts to aircraft maintenance and cleaning ships.
The objective of this project is to develop a large reach, high load manipulator to move workpieces or tools precisely in a programmable task execution mode. In a first step the relevant subsystems will be specified based on the results of handling task analysis. The second step is component development, leading to the realisation and demonstration of a prototype.
Modular control architecture regarding hardware and software with structured links to the computer integrated manufacture (CIM) and servo level is aimed to cover a wider range of applications for robotics. Redundant degrees of freedom and a flexible link structure are important features for the proposed type of robotics. Geometric and dynamic parameter identification is required as well as online configuration planning for local collision avoidance. A standard for the link between system and servo level for hydraulic drives in a distributed control concept has to be provided. The fully digital servo level combined with an advanced hydraulic drive system opens new possibilities for varying the position demand and the gain values to increase speed and eliminate vibrations. New sensor concepts are necessary for flexible manipulator structures to increase the accuracy of the overall system. For the large reach manipulator a lightweight construction using modular design principles is necessary to cover the anticipated range of applications.
In a first step the relevant sub-systems will be specified based on the results of handling task analysis. The second step is component development, leading to the realisation and demonstration of a prototype.

Coordinator

Daimler-Benz AG
Address
Sedanstraße 10
89077 Ulm
Germany

Participants (8)

Bertin & Cie
France
Address
Allée Gabriel Voisin
78373 Plaisir
CONSTRUCCIONES AERONAUTICAS S.A.
Spain
Address
Avenida De Aragon 404
28022 Madrid
DANSK TEKNOLOGISK INSTITUT
Denmark
Address
Gregersensvej, 141
2630 Taastrup
FRAUNHOFER-GESELLSCHAFT ZUR FOERDERUNG DER ANGEWANDTEN FORSCHUNG E.V.
Germany
Address
Nobelstrasse 12
70569 Stuttgart
Fraunhofer-Gesellschaft zur Förderung der Angewandten Forschung eV (FhG)
Germany
Address
Pascalstraße 8-9
10587 Berlin
H.F.JENSEN
Denmark
Address
Emdrupvej, 70
2400 Copenhagen
Moog Controls
United Kingdom
Address
Ashchurch
GL20 8NA Tewkesbury
PUTZMEISTER-WERKE-MASCHINENFABRIK GMBH
Germany
Address
Max-eyth-straße 2-38
72631 Aichtal