Design optimisation of industrial robots using the Modelica multi-physics modeling language
Superior performance of industrial robots can only be achieved if the interaction of mechanics, electronics and software is taken into account already in the design phase. Conventional approaches to modelling, however, cannot cope with such multi-physics systems. The new Modelica modelling language has been specifically developed for this purpose. It also significantly increases re-usability of model components, since components adapt to the connection structure in which they are used. In the European resarch project “Real-time Simulation for Design of Multi-physics Systems“ (RealSim), efficient tools for modelling, simulating and optimising industrial robots are developed. A general Modelica MultiBody library (freely available from [1] or [2]) formed the basis for the development of a specific robot component library. A development environment for creating robot models out of the available components was provided, in which initial calculations to verify the first rough design can also be performed. Tools for automated optimisation were developed that take the initial design as the starting point. Afterwards, the performance of a design can than be verified in a real-time simulation before investing in building a real prototype. These powerful development tools provide the basis for an even more efficient development process and superior robot performance in the future.
From research to products: the KUKA perspective on European research projects
Building on the recent experience of the KUKA Robot Group, this article shows the broad spectrum of topics addressed in European robotics research projects. It describes recently completed research projects that resulted in products that would not have been developed otherwise. These include the AMIRA Project, the HANDFLEX Project, and the REALISM Project. The diversity of topics covered illustrates the great potential for innovation in this area.
Evolution of carbide precipitates in Hastelloy N joints during welding and post weld heat treatment
Abstract The effects of welding and post weld heat treatment (PWHT) on the morphology, composition and lattice parameter of the precipitates in the welding joints of Hastelloy N alloy have been investigated. Joint samples were prepared using a gas tungsten arc welding process with ERNiMo-2 fillers, and then solid-solution treated at 1100 °C for 20 min. After welding, eutectic M6C carbides can be observed in the heat affected zones (HAZ) and weld zones (WZ). These eutectic M6C carbides become spheroidized during the following PWHT. The concentration of Si decreases during the transformation from the primary ones to eutectic ones, and then increases during the spheroidizing process. The total concentration of Si + Cr in M6C carbides remains stable during welding and PWHT. At the same time, the heat leads to the outward diffusion of Mo from the M6C carbides, which results in a decrease of the lattice parameter.