methodology for cloud-based design of robots

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© Техноцентр компьютерного инжиниринга УрФУ · · 2017

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Для ссылок: название журнала и выходные данные статьи

Physics, Technologies and Innovation,

PTI 2017: Proceedings of the IV International Young Researchers' Conference.

American Institute of Physics Inc. 2017. V.1886. AN 020017. DOI 10.1063/1.5002914

Methodology for Cloud-Based Design of Robots

Olga M. Ogorodnikova1,a), Kirill A. Vaganov2, and Ivan D. Putimtsev1

1Center for Computer-Aided Engineering, Ural Federal University, 620002 Ekaterinburg, Russia 2Ural Locomotives Plant, 624090 Ekaterinburg, Russia

a)Corresponding author: [email protected]

Abstract. This paper presents some important results for cloud-based designing a robot arm by a group of students. Methodology for the cloud-based design was developed and used to initiate interdisciplinary project about research and development of a specific manipulator. The whole project data files were hosted by Ural Federal University data center. The 3D (three-dimensional) model of the robot arm was created using Siemens PLM software (Product Lifecycle Management) and structured as a complex me-chatronics product by means of Siemens Teamcenter thin client; all processes were performed in the clouds. The robot arm was designed in purpose to load blanks up to 1 kg into the work space of the mil-ling machine for performing student's researches.

INTRODUCTION Engineering design is an essential process which includes creating a product by a team of specialists in single

or multiple companies [1]. Creating some initial 3D model of the desired product by means of CAD techniques (Computer Aided Design) is a starting point of the project [2]. All other CAE (Computer Aided Engineering) and CAM (Computer Aided Manufacturing) data required for simulation and manufacturing the product can be added later [3]. Last years, the cloud-based design has become a very important direction of developing comput-er aided technologies for complicated engineering on a base of CAD/CAE/CAM/PLM software [4].

Cloud services provide a convenient environment for storing and processing information through fast com-munication channels, combining hardware and licensed software [5]. Recently, the issue of constantly increasing and nonstop scaling of information resources and capacities for storing them, which are hardly to own or operate for an individual, is being solved. But not so many works were done to cloud-based design a robot yet. Moreo-ver, neither academia nor industries have yet provided an effective solution which can fully solve all the issues in the designing of mechatronic systems, integrating electrical/electronic systems, mechanical parts and information processing [6].



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SOFTWARE AND ROBOT DESIGN In this work, the NX software from Siemens PLM Software was chosen in order to use all the possibilities of

modern software package and create proper CAD models for mechatronic systems including mechanical and electrical parts. The software was initially announced as an integrated platform for multidisciplinary modeling of automated and robotic complexes. An additional reason for applying Siemens products is that various compo-nents of automation systems, controllers and sensors, are also produced under the brand of Siemens. Teamcenter as a special program environment, proposed by Siemens for SPDT (System Driven Product Development) ap-proach, was used to tie all the parts of the project together and manage it during realization in the cloud.

A systematic engineering design approach was realized for this work including core stages of technical task adjustment, conceptual design, embodiment design, and detail design. For a mechatronic system like the robot arm, the project structure contains all mechanical components and assemblies as well as electrical architecture. This integrated structure makes it possible to organize the requirements, functional, logical and physical view of the robot so that complexity at the lowest level is manageable even if both the mechanical and electrical parts are involved. Fig. 1a illustrates several variations for robot design proposed and consequently considered at earlier stages of projection, whereas the final 3D model is shown in Fig. 1b.

(a) (b)

FIGURE 1. Several initial robot designs proposed at earlier stages of projection (a) and the finally assembled 3D model in-cluding electrical and drive systems (b).

The possibility to consider the structure of robot arm as multidisciplinary model from the early design phase

has led the designers to create the integrated mechatronic system and organize properly all the essential informa-tion in the cloud. The organized information can be accessed, stored, served or reused by current and following participants of the project. It is very important for further evaluations of the project because the design of mecha-tronic systems requires a multidisciplinary collaboration of different teams.

The design tasks for various subsystems can be carried out simultaneously in the cloud by several specialists who usually tend to correct iteratively their work during the concurrent design process. An example of such col-laborative parallel development of mechanical and electrical parts is shown in Fig. 2 which represents corres-ponding components of certain designed unit. The applied methodology of parallel designing in the cloud has provided correct integration of mechanical and electrical 3D models into the final structure.



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(a) (b)

FIGURE 2. Rotary platform assembly of the designed robot arm (a) and the same unit after adding electrical wiring and printed circuit boards (PCB) with incoming electronic components (b).

At the stage of technical design, firstly, the mechanical subsystem of the robot as a part of complex mecha-

tronic system was developed in detail using NX CAD. Some specific calculations and CAE simulations were carried out to check the mechanical subsystem including kinematics and durability. At the final stage of design-ing the robot as a mechatronic system, the wiring routes and electronic components of the control system were added to the structure. The total number of components in the assembly exceeded 1200 pieces.

MANAGING THE CLOUD-BASED DESIGNING Traditionally, mechanical, electronic, sensory and computer parts of the computer-controlled machines are

developed step-by-step, but when we were constructing the arm robot in the cloud, we significantly stood out the work of an electrical engineer and believe that such an essential work should be carried out in parallel with de-signing mechanical components. Thus, to develop a mechatronic system in accordance with Fig. 3 we had to staff the group by mechanical, electronic, electrical engineers and an embedded software engineer (programmer).

FIGURE 3. Mechatronic system scheme

Fig. 4 shows the order in which the mechatronic system should be designed by a group of specialists in the

cloud. We have revealed that in order to ensure parallel design process, in addition to the above mentioned engi-neers, the qualified specialists in aesthetics and simulation are desirable as well. They will interact with all the others participants from the very beginning of projection to obtain an optimal, aesthetic and workable product. Actually, the emphasized specialist in mechatronics should be coordinating leader of the development process, checking all the subsystems represented.



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FIGURE 4. Mechatronic system design order

Let’s observe the functions of each participant in the design process. According to the schemes in Fig. 3 and Fig. 4 a mechanical engineer should perform, based on the MS device

concept, a structural analysis of the actuator for the chosen kinematic scheme, perform kinematic, power and dynamic calculations with identification of operating conditions, coordinates, speeds, accelerations, forces and moments of the actuator links. Next, you need to pick up the actuating motors and, and if necessary, make the calculations of the transmission mechanism.

The mechatronics engineer should analyze the development objectives, and forms the MS device concept. Further, having received the calculation justification of the executive mechanism, he begins to work out the gen-eral structure of the MS and its management system.

The electronics engineer, having received information on the type, number and magnitude of the input sig-nals on the executive motors and guided by the synthesized control system, begins the development of functional and structural electric circuits for power and control of motors and sensors, selects the necessary electrical and electronic components, develops basic electrical circuits, printed circuit boards and electronic components.

The software engineer produces software that corresponds to the synthesized control system, electronic units and the type of control microchips.

An electrical engineer assembles all electronic, sensory and electromechanical modules and provides their electrical interfaces, energy and information messages.

The engineer-designer assembles all the elements of the system by integrating them into the mechanical part of the product, provides their mechanical interfaces, studies the details, assigns materials in accordance with the economy, manufacturability and synergetic feature of the MS design methodology. Engineer-designer, working in close interaction with the design engineer, guided by the principles of industrial design and marketing, pro-vides the necessary appearance of the product to be designed.

The calculation engineer performs verification calculations for strength, vibration, noise, calculations for re-liability, durability, performs topological optimization of structural links, and so on.

CONCLUSION In this research, a cloud-based system was proposed and initiated specially for designing the robot arm. A

methodology for the system design of a mechatronic device using cloud technologies has been developed and tested by a group of master students. The proposed methodology can be used for industrial or educational pur-poses, and allows, in particular, evaluating and simulating a multidisciplinary project within the concept of 'home design'. The structure of the robot manipulator project in the Siemens Teamcenter software was created on the server of Ural Federal University data center. In future works, the created structure of the robotics project and the consequent models can benefit from cloud-based manufacturing technologies utilized both by computing and manufacturing cloud. It also allows to develop and vary the content of the project in the cloud, as well as to fill the library and data base with advanced attachments.



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References 1. O. M. Ogorodnikova, Science Review 10, 209-212 (2015). 2. O. M. Ogorodnikova and I. M. Pronichev, Engineering and Automation Problems 3, 36-40 (2016). 3. O. M. Ogorodnikova, K. A.Vaganov, N. S. Mushnikov and I. V. Yushkov, Engineering and Automation

Problems 2, 49-55 (2015). 4. D. Wu, D.W. Rosen, L. Wang and D. Schaefer, Computer-Aided Design 59, 1-14 (2015). 5. D. Wu, J. Terpenny and W. Gentzsch, Procedia Manufacturing 1, 64-76 (2015). 6. C. Zheng, J. Duigou, M. Bricogne and B. Eynard, Computers in Industry 76, 24-37 (2016).

methodology for cloud-based design of robots

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