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

This Open Access proceedings presents a good overview of the current research landscape of assembly, handling and industrial robotics. The objective of MHI Colloquium is the successful networking at both academic and management level. Thereby, the colloquium focuses an academic exchange at a high level in order to distribute the obtained research results, to determine synergy effects and trends, to connect the actors in person and in conclusion, to strengthen the research field as well as the MHI community. In addition, there is the possibility to become acquatined with the organizing institute. Primary audience is formed by members of the scientific society for assembly, handling and industrial robotics (WGMHI). The Editors Prof. Dr.-Ing. Thorsten Schüppstuhl is head of the Institute of Aircraft Production Technology (IFPT) at the Hamburg University of Technology. Prof. Dr.-Ing. Kirsten Tracht is head of the Bremen Institute for Mechanical Engineering (bime) at the University of Bremen. Prof. Dr.-Ing. Annika Raatz is head of the Institute of Assembly Technology (match) at the Leibniz University Hannover 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 Abstract 1 Introduction 2 State of the Art and Related Work 3 3D-Printed Mouldings for Sand Casting 3.1 Development of a Large Format FDM-Printing System 3.2 Implementation in the Production Process 3.3 Validation and Results 4 Robot-Supported Machining for the Additive Manufacturing of Maritime Components with Hollow Structure 5 Conclusion and Future Work References 20 The Digital Twin as a Mediator for the Digitalization and Conservation of Expert Knowledge Abstract 1 Introduction 2 What is a Digital Twin? 2.1 What is an Experimentable Digital Twin? 2.2 Digital Twin as a Mediator 3 What is Knowledge Management? 3.1 How to Conserve Knowledge with a Digital Twin 4 Use Case 5 Conclusion Acknowledgements References 21 Web Service for Point Cloud Supported Robot Programming Using Machine Learning Abstract 1 Introduction 2 Related Work 3 Groundwork 3.1 Rüstflex 3.2 VEROSIM 4 System Components 4.1 Production Line 4.2 Digital Twin 4.3 Deep Learning 4.4 Web Service 4.5 Demonstrator 5 Conclusions and Future Work References 22 Usage of Augmented Reality for Improved Human-Machine Interaction and Real-Time Error Correction of Laboratory Units Abstract 1 Introduction 2 State-Of-The-Art Applications and Motivation for the Study 2.1 The Problem of Data Transfer 2.2 The Problem of User Activity Indication 3 Method of Development 3.1 Hardware Components 3.2 Software Components 3.3 Project Development Process 3.4 The Solution to the User Activity Indication Problem 3.5 The Solution to the Data Transfer Problem 3.6 Resulting System Testing 4 Technical Maintenance Simulation (Error Correction) 5 Results 6 Conclusion and Future Work References 23 Scalability of Assembly Line Automation Based on the Integrated Product Development Approach Abstract 1 Introduction 2 Planning Approaches 3 Quantity Dependent Charging Station Production 4 Application Concept 5 Conclusion and Outlook Acknowledgements References Machine Vision 24 Robot-Based Creation of Complete 3D Workpiece Models 1 Introduction 2 State of the Art 3 Our Approach 3.1 Basic Approach 3.2 Sensing 3.3 Grasping and Turning 3.4 Merging of the Half-Clouds 4 Experimental Results 4.1 Validation 4.2 Evaluation 5 Conclusion 25 Classification of Assembly Operations Using Recurrent Neural Networks Abstract 1 Introduction 2 Classification of Manual Assembly Operations 3 Machine Learning Algorithms for Activity Recognition 4 Activity Recognition in Manual Assembly 5 Network Structure and Implementation 5.1 Dataset 5.2 Neural Network Architecture 5.3 Implementation 6 Results 7 Conclusion and Outlook Acknowledgements References 26 Configuration and Enablement of Vision Sensor Solutions Through a Combined Simulation Based Process Chain 1 Introduction 2 Related Work 2.1 Vision Sensor Planning 2.2 Training Data Generation 3 System Overview 3.1 Assembly Feature and Task Analysis 3.2 Calculation of Possible Viewpoints 3.3 Scene Composition for Training Data Generation 4 Use Case 4.1 Presentation 4.2 Discussion 5 Conclusion and Future Work 27 Towards Synthetic AI Training Data for Image Classification in Intralogistic Settings 1 Introduction 2 Related Work 3 Process Analysis and Problem Statement 3.1 Use-Case Description 3.2 Categorization of Transportation Settings 3.3 Formulation of Scene Grammar 3.4 Derivation of a Parameter Space 4 Data Generation Pipeline 5 Validation 5.1 Model and Training 5.2 Results 5.3 Discussion 6 Conclusion and Outlook 28 Evaluation of ML-Based Grasping Approaches in the Field of Automated Assembly 1 Introduction and Motivation 2 State of the Art 2.1 Object Localization 2.2 Object Pose Estimation 2.3 Grasp Estimation 3 Production Requirements on Vision-Based Grasping 4 Integration of ML-based Grasping in Assembly Processes 5 Current Challenges 6 Conclusion and Outlook Robot Programming 29 Playback Robot Programming Framework for Fiber Spraying Processes 1 Introduction 2 Related Work 3 Programming Framework for Fiber Spraying Processes 3.1 Fiber Spraying Process 3.2 Definitions 3.3 General Structure 3.4 User Interface 3.5 Programming of Periphery Devices 4 Experiments 4.1 Experiment Setup 4.2 Evaluation of Intuitiveness 5 Conclusion and Future Work 30 LiDAR-Based Localization for Formation Control of Multi-Robot Systems 1 Introduction 2 System Overview 3 Algorithm 4 Evaluation 5 Conclusion and Future Work 31 Playback Robot Programming with Loop Increments 1 Introduction 2 Related Work 3 Loop Increments for Playback Robot Programs 3.1 Definition of Increments Within the Programming System 3.2 Trajectory Blending During Playback 4 Comparison and Evaluation of Blending Functions 4.1 Comparison 4.2 Evaluation 5 Conclusion 32 Web-Based Platform for Planning and Configuration of Robot-Based Automation Solutions: A Retrospective View on the Research Project ROBOTOP Abstract 1 Introduction 2 State of the Art 2.1 System Integration of Automation Solutions 2.2 Knowledge-Based Engineering Configurators (KBEC) as Tools for Automating the Planning Process of RAS 2.3 Digitalization of the Engineering Industry by Using Web-Based Platforms and Need for Action for Current Industry 3 Overcoming Barriers of Web-Based Engineering Configurators 3.1 Need for Action for a Knowledge-Based, Engineering Configurator Platform (ROBOTOP) for Planning of RAS 3.2 Challenges Within Data Acquisition and Preparation for Knowledge-Based Engineering Configurators Within a Web Platform 4 Platform Architecture and Lessons Learned 4.1 Software Architecture of ROBOTOP 4.2 Constraint and Best Practice Acquisition for KBECs 5 Validation of the Iterative Development of ROBOTOP Based on Concepts Implementation and Platform Facts 6 Conclusion and Outlook Acknowledgements References 33 Partial Automated Multi-Pass-Welding for Thick Sheet Metal Connections Abstract 1 Introduction 2 Description of the Developed Process 2.1 Solution Approach 2.2 Test Setup 2.3 Software/GUI 3 Implementation 3.1 Planning the Welding Path 3.2 Scan of the Welding Path 3.3 Human–Machine Collaboration 4 Generating Data 5 Using AI 6 Conclusion and Outlook References This Open Access proceedings presents a good overview of the current research landscape of assembly, handling and industrial robotics. The objective of MHI Colloquium is the successful networking at both academic and management level. Thereby, the colloquium focuses an academic exchange at a high level in order to distribute the obtained research results, to determine synergy effects and trends, to connect the actors in person and in conclusion, to strengthen the research field as well as the MHI community. In addition, there is the possibility to become acquatined with the organizing institute. Primary audience is formed by members of the scientific society for assembly, handling and industrial robotics (WGMHI). The Editors Prof. Dr.-Ing. Thorsten Schüppstuhl is head of the Institute of Aircraft Production Technology (IFPT) at the Hamburg University of Technology. Prof. Dr.-Ing. Kirsten Tracht is head of the Bremen Institute for Mechanical Engineering (bime) at the University of Bremen. Prof. Dr.-Ing. Annika Raatz is head of the Institute of Assembly Technology (match) at the Leibniz University Hannover This Open Access book presents a good overview of the current research landscape of assembly, handling and industrial robotics. The objective of MHI Colloquium is the successful networking at both academic and management level. Thereby, the colloquium focuses an academic exchange at a high level in order to distribute the obtained research results, to determine synergy effects and trends, to connect the actors in person and in conclusion, to strengthen the research field as well as the MHI community. In addition, there is the possibility to become acquatined with the organizing institute. Primary audience is formed by members of the scientific society for assembly, handling and industrial robotics (WGMHI). The Editors Prof. Dr.-Ing. Thorsten Schüppstuhl is head of the Institute of Aircraft Production Technology (IFPT) at the Hamburg University of Technology. Prof. Dr.-Ing. Kirsten Tracht is head of the Bremen Institute for Mechanical Engineering (bime) at the University of Bremen. Prof. Dr.-Ing. Annika Raatz is head of the Institute of Assembly Technology (match) at the Leibniz University Hannover