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1Institute of Industrial Electronics and Electrical engineering Riga Technical University; 2Department of Engineering “Enzo Ferrari”, University of Modena and Reggio Emilia, Via Vivarelli 10, 41125 Modena Italy
The energy consumption and electrical characteristics of a novel direct current (DC) power supplied industrial robot are compared and analyzed with a state of the art alternating current (AC) supplied industrial robot. An extensive set of experiments show an important reduction of the total energy consumption for different electrical power profiles measured in various robot trajectories with specific working temperatures. The recuperated energy is also analyzed in the different scenarios. Experimental results show that a DC type robot can be up to 12.5% more energy-efficient than an equivalent AC type robot.
246. Energy Consumption Modeling of a Turning Table and Standardized Integration into Virtual Commissioning Tool Chain
Dominik Hauf1, Julian Kruck1, P. Paryanto2, Jörg Franke2
1Daimler AG, Germany; 2Institute for Factory Automation and Production Systems (FAPS), FAU Erlangen-Nuremberg, Egerlandstr. 7-9, 91058 Erlangen, Germany
Energy efficiency and flexibility are getting more and more important. Especially for automotive production an intelligent and sustainable use of energy is relevant due to increasing energy prices.
There are various ways to reduce energy consumption while the engineering of production lines and during the real production processes. However, the biggest impact on energy consumption arises from optimization steps in the digital process chain before start of production. Therefore, the best time for integrating optimization algorithms is before the real commissioning of a production line. Virtual Commissioning (vCom) includes the validation of programmable logic controller (PLC), the robot control and the 3D geometry. Nowadays vCom don’t provide data about energy consumption of a production line. Consequently, a new approach to simulate the energy consumption within the vCom tool-chain has to be developed.
To qualify VCom for the energy simulation it is necessary to add single energy models of each mechatronic component to the simulation system. For the set-up of energy models a detailed knowledge about the mechatronic component behavior is necessary. Often integrators of industrial automation components or plant manufacturers do not have the knowledge or the access to the knowledge. Suppliers do not provide detailed data about their components due to reasons of intellectual property. Therefore, in future the supplier himself should generate the mechatronic models. To exchange such models a global standard has established, the functional mock-up interface (FMI). FMI allows a protected allocation of simulation models (binary code) while the interface is defined in a XML document. One simulation model is specified as functional mock-up unit (FMU). This paper makes a suggestion for a standardized interface description of energy models to provide help for the suppliers.
Further, a guideline for a methodical development of energy models of automation components, like used in a turning table, is discussed and also the integration of such models into the vCom is presented.
A structured energy model of a turning table was generated. The model contains a powertrain and an inverter. While the powertrain is consisting of an electrical motor, a gearbox, a shaft and cam switches. For this purpose the object-orientated programming language Modelica was used. The validation of the simulation model shows that the results correspond with the measurements. The created model provides correct energy data within the vCom. This allows the use of the vCom for preparing and validating energy optimization steps.
In future, the energy consumption of whole production lines with all mechatronic components (robots, technologies and periphery) can be simulated within one integrated simulation environment.
281. Automatic modeling and simulation of robot program behavior in integrated virtual preparation and commissioning
Martin Dahl, Kristofer Bengtsson, Martin Fabian, Petter Falkm
This paper presents a method where the behavior of a robot cell is automatically modeled based on existing robot programs and a simulation model of the cell. Robot programs from the shop floor are uploaded into a virtual manufacturing tool, and a formal model is then generated from the robot programs. Then, control logic is automatically calculated, and the fastest possible execution order is found by using the generated model to formulate an optimization problem. The result is continuously analyzed and validated by simulation in the virtual manufacturing tool.