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System architecture and modular design of robot-like systems using multidimensional characteristic diagrams

Subject Area Engineering Design, Machine Elements, Product Development
Term from 2021 to 2025
Project identifier Deutsche Forschungsgemeinschaft (DFG) - Project number 461993234
 
Final Report Year 2025

Final Report Abstract

The project DSL4RAS aims to describe the operational behavior of drive systems for robots and robot-like systems, taking into account environmental influences throughout their entire lifespan. The development of a domain-specific language (DSL) for integrating detailed descriptions of mechanics, electrical engineering/electronics, and software was a central element of the project. This language enables the representation of the entire robotic system using multidimensional characteristic maps and hardware/software architectures. Standards such as ECLASS and REXS were utilized to achieve the most generalizable validity across the individual disciplines. A significant focus was placed on incorporating environmental influences and long-term degradation effects into the models, which was achieved through the use of an ontology as the fundamental description of the DSL. Additionally, an approach for modeling and evaluating the compatibility of interfaces in drive systems using ontologies was developed. Another focus of the project was on the behavioral description of drive systems using multidimensional characteristic maps. These maps allow for a detailed representation of the characteristics of the drive system and the environmental influences on its operational behavior over its lifespan. To determine the gearbox characteristics, a description method using contact symbols was introduced. This method was then applied to several common gearbox types in robotics, enabling, for example, the determination of the load deformation behavior of various gearbox types. A comparative analysis of different gearbox types in robotics under various conditions showed different significant influencing factors on the efficiency and load deformation behavior of the drives. Special attention was given to the system architecture of the robotic system and the management of variant diversity. Finally, the range of feasible design families was systematically explored using Solution Space Engineering (SSE) by combining the developed models with physical simulations. In summary, the project has made significant progress in the detailed modeling and simulation of drive systems as well as in the holistic consideration of system architecture.

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