Projects on Philipp Tempel

COSserat theory for SlEnder RObOTS – COSSEROOTS

Wed, 01 Sep 2021 00:00:00 +0000

Robotics is today experiencing a paradigmatic revolution. The “stiffer is better” of our rigid robots is challenged by a new generation of robots with controlled deformations of finite amplitudes. This is the case of trunk-robots in soft robotics, continuum robots in medical robotics or hyper-redundant eel/snake-robots in bio-inspired robotics. In contrast to the rigid elder sibling, this novel robotics lacks a solid and unified corpus of modelling tools for control. Building on a novel parametrization of the Cosserat theory of rods, COSSEROOTS aims at producing for the first time a comprehensive and unified corpus of methods and models devoted to the control of slender robots with actuated large deformations. Beyond modelling, COSSEROOTS will use these novel modelling tools to address challenging control problems in the fields of soft, medical, and bio-inspired robotics.

Manipulation of Soft Bodies by Multiples Drones

Wed, 01 Sep 2021 00:00:00 +0000

Aerial robots meet many industrial needs, but their gripping capacity, reduced to a metal clip, is not adapted to complex objects. The MAMBO project offers a new solution: a soft gripper, composed of a soft body that can withstand a large deformation and thus adapt to any object shape. Lightweight, soft gripper can be larger and have no impact on the autonomy of drones.

Ecodesign of Flexible Continuum Structures

Sun, 01 Nov 2020 00:00:00 +0000

Developed model structure, mathematical framework, and non-linear optimization methods;
Built simple planar stiffness-optimal parallel continuum structure to confirm theory;

Cable Robot for the Inspection and Scanning of Artwork

Tue, 01 Oct 2019 00:00:00 +0000

Built and designed cable robot CaRISA from scratch using my CDPyR python-package and SolidWorks;
Performed robot accuracy and repeatability experiments using a microscope mounted on the end effector;
Developed version 2 of python package CDPyR for design and analysis of cable robots;
Developed open-source control platform TwinCATdpr for cable robots based on TwinCAT by Beckhoff;

Cable-Driven Parallel Robot for Additive Manufacturing

Fri, 01 Sep 2017 00:00:00 +0000

Built CaRoPrinter cable robot for 3D additive manufacturing of cables for fiber-reinforced concrete structures;

Kinematic Modeling of Cable-Driven Parallel Robots with Unlimited Rotational Axis

Tue, 01 Aug 2017 00:00:00 +0000

Endless rotation about an axis is widespread among manipulators for industrial use. Manipulators, such as articulated robots, Delta, or SCARA robots, provide endless rotation about at least one axis to arbitrarily change the orientation of the workpiece handled. It is quite uncommon, on the other hand, for parallel manipulators to be capable of such operations, yet alone for cable-driven parallel robots for which this capability is yet to be explored. Due to their intrinsic properties, these systems offer key benefits over other kinematic manipulators, combination of which with an endless rotation about an arbitrary axis will beckon new applications for cable-driven parallel robots in production.The first record of a particular design of a cable-driven parallel robot with an endless rotation about one axis has been given in preparatory works to this proposal done by the proposer. However, generalization of this approach to a broader selection of applications is yet to be completed as methods for describing and specifying such robots are lacking existence.Endless rotation about an arbitrary axis may mechanically be described by means of a passive kinematic chain resulting in an increase in the number of internal degrees of freedom in the already redundant cable-driven parallel robots. This physically extended model indeed requires a significantly extended kinematic specification to capture the interaction of all kinematic chains and the cable drive trains. This method of specification has not been explored but is essential to the investigation of generalized designs of cable-driven parallel robots with an endless rotation about an arbitrary axis. In the proposer’s preparatory work, the description is based on an application-specific extension of the structural equation, which provides a solution for the example given. However, it is not possible to generalize this approach such that it also covers other mechanical means of generating rotations.Within the scope of this project, extension of modeling and synthesizing methods of cable-driven parallel robots shall be explored, by means of which endless rotation about an arbitrary axis can be consistently integrated into such existing methods. The aim of this work is to find generalized designs for such cable-driven parallel robots types based on the extended description of the kinematic and geometric properties. Besides the theoretical description, experimental validation will show that there are implementable designs with an endless rotation about an arbitrary axis.

Development of a Method and Strategy for On-Line Reconfiguration of Cable- Driven Parallel Robots as Handling Devices

Wed, 01 Feb 2017 00:00:00 +0000

Due to their parallel and modular structure, cable-driven parallel robots are very well suited for the implementation of a reconfiguration option. The term reconfiguration refers to the adaptation of the robot structure to a changed requirement. Practical measures are, for example, the addition and removal of cables or the displacement of pulleys. Thus, the implementation of a reconfiguration feature on a cable robot increases the range of realizable properties enormously. In the first funding period, a general data model of a reconfigurable cable robot was developed, which allows the depiction of discrete and continuous reconfiguration options. Based on the data model, a strategy to plan a reconfiguration procedure according to a given workspace requirement was introduced. In addition, a procedure for the structural and geometric reconfiguration of a “Computerized-Numeric-Control” system (CNC) was developed and validated by means of a simulation with a real control system.The aim of the follow-up project is to further refine the used workspace description, as well as the process of reconfiguration planning and finally to bring the results together. Currently, the planning of the reconfiguration is based on a method for workspace calculation, that uses an algorithm for cable force distribution. In order to eliminate the dependency on a cable force distribution algorithm, a method for the efficient evaluation of the workspace boundary of the controllable workspace, which is a pure geometric concept, is to be developed. With regard to the planning process based on optimization, the entire process is to be formalized further. With a uniform description of the entire procedure, different methods can be compared directly. For example, it becomes possible to assess the efficiency and accuracy of different numerical solution schemes. Finally, the results of the planning strategy and the practical reconfiguration are to be brought together by a discrete state modelling, followed by the implementation in the real robot afterwards.The steps required for the further implementation of a reconfigurable cable robot are divided into four independent work packages. Within the first package, a method for the efficient calculation of the controllable workspace is to be developed. Based on this, the process of reconfiguration will be further formalized, in order to investigate different numerical solution schemes as well as quality functions. In the last work package a state modelling of the different modules of a reconfigurable cable robot shall be designed and implemented on the existing target system.

Integrated Zero Defect Manufacturing Solution for High Value Adding Multi-Stage Manufacturing Systems

Sat, 01 Oct 2016 00:00:00 +0000

Advanced manufacturing companies are confronted with the challenge of managing product quality objectives while minimising resource utilisation and waste. Zero defect manufacturing (ZDM) represents a contemporary paradigm that goes beyond traditional six-sigma approaches, particularly within Europe’s highly technology-intensive and strategically important manufacturing sectors. However, the successful implementation of ZDM in the industry hinges on the adoption of innovative defect management and control methods, as well as the use of cutting-edge technologies for in-line inspection. Additionally, the integration of knowledge management and ICT tools is vital for intelligent and sustainable decision-making. To address these needs, the EU-funded ForZDM project aims to develop and demonstrate tools that facilitate the swift deployment of ZDM solutions within the manufacturing sector.

Automation and Digitization in Manufacturing of Control Cabinets

Thu, 01 Sep 2016 00:00:00 +0000

Conducted survey through questionnaire and on-site visits;
Identified digital twin and automated cable routing as ideal contender for automation;
Derived use-case for robot-supported cable routing for the IRTG 2198 Soft Tissue Robotics S-1/II;

Development of a Hybrid System of Battery and Capacitor

Thu, 01 Oct 2015 00:00:00 +0000

In a project funded by the state of Baden-Württemberg, Fraunhofer IPA developed next-generation energy storage technologies. Together with industrial partners, materials and production processes were developed for asymmetric energy storage devices, so-called power caps, which combine the respective advantages of batteries and supercapacitors in a hybrid system.

Cable Robots for the German Pavilion at World Expo 2015 in Milan, Italy

Tue, 01 Apr 2014 00:00:00 +0000

Designed two cable robots in consultation with architects to ensure safety standard-compliant design of event space;
Developed and tested safety of the robots’ real-time motion control software;
Developed software using Blender and Python for artists to program robot motion more intuitively;

Improved Modeling of Kinematics and Dynamics of Light-Weight Parallel Robots

Wed, 01 Jan 2014 00:00:00 +0000

Experimentally validated cable elasticity model based on standard linear solid model;
Built COPacabana cable robot as validation and test bed for my research;
Derived and validated cable dynamics model based on Cosserat theory of elastic bodies;
Estimated in experiments inertial and mechanical parameters of cable robots CoGiRo, COPacabana, IPAnema;
Implemented real-time motion control and real-time workspace calculation of cable robots in C/C++ and ROS;
Implemented design and analysis algorithms of cable robots in GUI software WireCenter in C/C++ 11;
Created and validated general-purpose MATLAB/Simulink real-time simulation toolbox CDPRlab for cable robots;
Collaborated with Fraunhofer IPA on industrialization of cable robot technology and industrial use cases;
Developed python package CDPyR for design and analysis of cable robots;
Joined Joint Robotics Laboratory, Chonnam National University, Gwangju, Republic of Korea as invited researcher;
Joined Laboratory of Informatics, Robotics and Microelectronics of Montpellier, France as visiting researcher;

Design and Implementation of Lab Session for Measurement of Otoacoustic Emissions and Electrical Impedance Tomography

Wed, 01 May 2013 00:00:00 +0000

Developed didactic plan for lab session on the use of various otoacoustic measuring devices;
Supervised the lab session for several groups of up to 4 masters students;
Created software for simplified measurement of data using dSPACE and LabView;
Developed a web-based app to manage student activities and theses in PHP;