Methods for the automation of handling processes under cryogenic conditions

• Applicants: Dr.-Ing. Frank Ihmig; Professorin Dr.-Ing. Annika Raatz
• Subject Area: Production Automation and Assembly Technology ; Engineering Design, Machine Elements, Product Development
• Term: from 2017 to 2023
• Project identifier: Deutsche Forschungsgemeinschaft (DFG) - Project number 349906175

• Final Report Year: 2023

Final Report Abstract

The applicants investigated methods for automating handling processes in the cryopreservation and storage of biological material. This research was and continues to be necessary because process automation does not exist in the low-temperature range of -130 °C to -196 °C that is relevant for the long-term storage of biological material. The decisive advantages of automation at cryogenic temperatures compared to the prevailing purely manual or partially automated process at temperatures above this are, on the one hand, the exclusion of safety hazards to personnel and, on the other hand, the prevention of quality impairment due to temperature fluctuations. The aim of the project was to investigate the basic technologies for the realization of a robotassisted handling system and to produce the first functional samples. For this purpose, the optimal parallel kinematic robot structure, which enables the placement of the drives outside the cryogenic working environment, suitable construction materials as well as mechanical and electrical components were determined from the requirements of the targeted process. Another focus was on investigating the application possibilities of solid-state joints, which can be used in a cryogenic working environment compared to conventional joint mechanisms. In addition, four other approaches were the subject of research in the project: methods for heating the solid-state joints, design of monolithic gripping mechanisms, design of an electromechanical gripper actuation and research into concepts for wireless energy transmission to the inside of the cryogenic workspace. The results of the project clearly show that methods and functional models of components for an automation of handling processes under cryogenic environmental conditions were successfully researched and developed. The basic function of individual developed components such as solid-state joints, mechatronic gripping system and inductive energy transfer was proven in experimental investigations. Methods for the systematic design of joint geometries, parallel robot structures, gripper mechatronics and wireless energy transmission for the planned application scenario of automated sample handling in cryobanks are available.

Publications

• Kryokonservierung: Eiskalter Job für Parallelroboter. In: phi - Produktionstechnik Hannover informiert
  Jahn, P.
  
• Automatisierung von Handhabungsprozessen in einer tiefkalten Arbeitsumgebung. (reviewed extended abstract und Vortrag), Digitaler Tagungsband zur 6. IFToMM D-A-CH Konferenz 2020
  Jahn P. & Raatz A.
  
• Numerical simulation and statistical analysis of a cascaded flexure hinge for use in a cryogenic working environment. Annals of Scientific Society for Assembly, Handling and Industrial Robotics, 81-94. Springer Berlin Heidelberg.
  Jahn, Philipp & Raatz, Annika
  
• Roboterkomponenten für den kryogenen Arbeitsraum. In: Deutsche Kälte‐ und Klimatagung 2020: Deutscher Kälte‐ und Klimatechnischer Verein e.V.
  Jahn P., Ihmig F., Olsommer Y., Biehl M. & Raatz A.
  
• Design of a parallel robot with additively manufactured flexure hinges for a cryogenic work environment. Procedia CIRP, 103, 280-285.
  Jahn, Philipp; Ihmig, Frank & Raatz, Annika
  
• Robotergestützte Handhabung im kryogenen Arbeitsumfeld. (reviewed abstract; Paper und Vortrag), Tagungsband der Digital- Fachtagung VDI Mechatronik 2021, S. 164-169
  Ihmig F., Koch T., Biehl M., Jahn P. & Raatz A.
  
• Combined Structural and Dimensional Synthesis of a Parallel Robot for Cryogenic Handling Tasks. Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021, 65-77. Springer International Publishing.
  Schappler, Moritz; Jahn, Philipp; Raatz, Annika & Ortmaier, Tobias
  
• Design and Analysis of a Compliant Parallel Robot with Cardan Joints for a Cryogenic Working Environment. Advances in Robot Kinematics 2022, 220–227.
  Jahn, Philipp; Hentschel, Jakob & Raatz, Annika
  
• Induktive Energieübertragung in eine kryogene Umgebung. In: Deutsche Kälte‐ und Klimatagung 2022: Deutscher Kälte‐ und Klimatechnischer Verein e.V.
  Olsommer Y., Jahn P., Raatz A. & Ihmig F.