nan Paryanto

An Integrated Simulation Approach to the Development of Assembly System Components

Commonly, a modelling and simulation approach is used for parameter optimization and system behavior analysis of assembly system components. However, such simulation approaches are often not well integrated or its analysis is still based on a specific physical domain. This paper proposes an integrated simulation approach that can be used for designing, analyzing and optimizing the entire physical domain as well as the control system of mechatronic components in an assembly system. The state-of-the-art, requirements, our concept and the limitations of an integrated simulation approach are explained in this paper. A case study of the development of conveyor systems using the multi-domain simulation tool OpenModelica is also presented. On-going research shows that the integrated approach offers various benefits such as reduced development time and minimized errors, as well as maintenance during the commissioning process.

Energy consumption modeling within the virtual commissioning tool chain

In this paper an energy modeling approach within the virtual commissioning tool chain is presented. Virtual commissioning (VCom) today is a de facto methodology for programmable logic controller (PLC) software design and validation for automatic production systems. Energy consumption has never been an optimization criterion in VCom. Concepts of energy consumption modeling for any production unit have been investigated for measuring, visualization and optimization of control strategies. The hardware-in-the-loop simulation includes logical behavior models, the respective energy models and 3D-kinematic models of the production units, which are connected over common industrial bus network with a hardware-PLC. The concept has been developed for use with commercially available software tools so that the research results are implementation-oriented. An example from the automotive industry has been used.

Development of a low cost anthropomorphic robotic hand driven by modified glove sensor and integrated with 3D animation

In this paper, a low cost anthropomorphic robotic hand is developed using low cost materials. The robotic hand has 6 joints and 6 actuators. User or operator gives the hand movement command by a modified glove sensor. The glove consists of six flex sensors placed on the fingers and wrist join that detect the bend of the fingers into a joint angle in each finger. 3D CAD model of robotic hand is exported into SimMechanics model using SimMechanics link to generate SimMechanics block diagram that can run in MATLAB/ Simulink environment. The model in SimMechanics is utilized as 3D animation hand. The relationship of the servo motor rotation angle among metacarpal phalangeal (MCP), proximal inter phalangeal (PIP) and distal inter phalangeal (DIP) joints will be presented. Finally, the performance of robotic hand is tested to grasp various objects and to perform specific motion augmented with 3D animation. The experiment results show the successful development of a low cost anthropomorphic robotic hand that can perform activities of daily living (ADLs).

Mechatronic Behavior Analysis of a Customized Manufacturing Cell

Analyzing the mechatronic behavior of a manufacturing cell used in a customized manufacturing process is a difficult task with numerous obstacles. Therefore, a method that can be easily used for developing and optimizing a customized manufacturing cell, i.e., universal contacting module (UCM) cell, for the in-circuit testing of electronic modules is desired. In this paper, we present a convenient method using multi-domain simulation tools for analyzing the mechatronic behavior of the UCM cell. The UCM cell, which consists of mechatronic components such as a six-axis industrial robot and conveyor systems, were successfully modeled, simulated, and validated under several payloads. This work also presents a modeling procedure that can be applied by system engineers with a basic background in control systems for analyzing the mechatronic behavior of manufacturing cell components.

Adaptive Optimal Multiple Object Tracking Based on Global Cameras for a Decentralized Autonomous Transport System

In order to adapt to the mass customization, a new concept of material flow systems that can handle product varieties is needed. Firstly, this paper analyzes the current problems and future requirements of the structure of a new production system. Then, in response to current limitations, the corresponding concept of a decentralized transport system for low payloads with high flexibility is introduced. For this purpose, automated guided vehicles (AGVs) as an effective means of transport are used. The key issues of the autonomous transport system are then researched, and an improvement of the multiple object tracking algorithm is proposed. We demonstrate the performance of our proposed system with a designed workspace. Based on the demonstration and experiment, results show that the proposed concept and the tracking algorithm are appropriate and robust to be implemented in real-time applications.

A Model-Based Approach for the Energy Monitoring of Handling Machines

An energy-efficient handling system can only be constructed on condition that at the beginning of the development process the energy behavior of handling machines can be evaluated. However, the challenge at the beginning of the development is characterized by the fact that there is no energy data of these machines available. Most of the machine manufacturers do not provide such data or they only offer general data, which is limited to special machine conditions or movements. To solve this challenge, a model-based approach for energy monitoring of handling processes is developed. This approach allows the planning engineers to analyze the energy behavior as well as the kinematic behavior of handling machines at their real conditions. The approach is developed using the multi-domain simulation method, so the detailed components of handling machines can be modeled and simulated. Based on the case study analysis that was performed on a Cartesian robot, the developed approach is conveniently used to predict the energy consumption behavior of handling machines. Thus, using the developed approach, a planning engineer can reduce the energy consumption of handling systems by optimizing the handling sequence.

A Dynamic Simulation Model of Industrial Robots for Energy Examination Purpose

In this paper, a modular dynamic model of an industrial robot (IR) for predicting and analyzing its energy consumption is developed. The model consists of control systems, which include a state-of-the-art feedback linearization controller, permanent magnet synchronous drives and the mechanical structure with Coulomb friction and linear damping. By using the developed model, a detailed analysis of the influence of different parameter sets on the energy consumption and loss energy of IRs is investigated. The investigation results show that the operating parameters, robot motor drives, and mechanical damping and elasticity of robot transmissions have a significant effect on the energy consumption and accuracy of IRs. However, these parameters are not independent, but rather interrelated. For example, a higher acceleration and velocity shortens IRs’ operating periods, but needs a greater motor current, tends to excite vibrations to a greater extent, and thus produces a higher amount of loss energy.