Research projects
Table of contents
"We model dynamic systems so that we can use simulations to design and build better machines, vehicles, robots and drones"
Robotics
Robotics has been developing into a core research area at the Chair of Dynamics and Mechanism Design since 2018. The focus is on the design, modeling and control of robots based on the kinematics and dynamics of the systems. The focus of our research work is on flight robotics and cable robotics.
Flight robotics
In the field of aerial robotics, the main focus is on the development of fully-actuated flying robots for carrying out manipulation tasks ("aerial manipulation") in physical contact with the environment. In order to meet the high precision requirements of many applications, tactile navigation approaches are being tested. Our research is also characterized by
Flugrobotik
- Standardized GNC development through model-based design
- Load space-based design of hardware configurations
- Precise modeling of flight behavior
- Accurate estimation of manipulation loads
- Flight tests in the in-house flight laboratory
Rope robotics
Rope robots represent a special class of parallel kinematic systems in which flexible ropes are used instead of rigid connecting elements. Our core research areas are the development of highly flexible cable robot systems characterized by a modular system architecture. We have implemented and successfully tested several demonstrators of different configurations. Our research focuses on the following topics:
Demonstrationsseilroboter
- Modeling of the system behavior
- Optimization of the workspace
- Application-specific reduction of hardware complexity
- Development of capabilities control concepts
Rail vehicle technology
The simulation of dynamic behavior is a central component in the development process of vehicles, in particular to obtain information about the loads occurring during operation and the accelerations relevant to ride comfort. It also plays a decisive role in the field of rail vehicles with high safety requirements and expensive prototypes. In addition to its use in the development process, there are increasing applications for simulation-based analysis over the entire service life in the context of maintenance. The Chair of Dynamics and Mechanism Design (DMT) has many years of experience in the field of multi-body simulation and the dynamic calculation of rail vehicles
Continuing the activities of the former Chair of Vehicle Modeling and Simulation at the Faculty of Transport Sciences "Friedrich List", the development and application of advanced simulation methods is an essential part of the Chair's teaching and research profile. Disciplines of structural dynamics, acoustics and energy simulation are dealt with in various research projects in the context of rail vehicle technology. The field of measurement technology complements the profile to gain valuable knowledge about the vehicle and track systems through wheel, track and environment measurement, among other things. Furthermore, the development of digital twins, e.g. for wheel profile maintenance, is increasingly coming into focus.
Investigation of the vibration behavior of the overhead contact line with several pantographs
Schwingungsverhalten der Oberleitung im Projekt DYNOLA
- Development and optimization of systems for the efficient control and use of energy flows in rail vehicles
- Investigation of methods for recovering and utilizing waste heat, in particular from drive losses and power electronics
- Analysis of thermal requirements for comfort and energy efficiency in the passenger compartment
- Use of simulations (Modelica) for the design and evaluation of components and overall systems
- Evaluation of measures to increase energy efficiency
- Contribution to sustainable mobility concepts and the achievement of climate protection targets in rail transport
Contact: Dipl.-Ing. Alex Swesdarov
Textile machines
The dynamics of textile machines has become another focus of the Chair. Particular attention is paid to the dynamic behavior of threads. This property is being investigated as part of several projects using numerical dynamics simulation. Various existing numerical simulation approaches and methods are combined with newly developed modeling concepts. The projects are carried out in cooperation with the Institute of Textile Machinery and High Performance Materials Technology (ITM) and are funded by the German Research Foundation (DFG). Topics are
- Dynamic models of textile machines
- Simulation of stationary and transient operating conditions
- Non-linear elastic modeling of yarns
- Highly dynamic simulation of machine-yarn interaction
The aim of the project is to study the dynamical behavior of a high-speed ring spinning process with a Superconducting Magnetic Bearing (SMB) twisting system. Ring spinning is a process used for over a century in textile industry for producing fine yarn. However in conventional ring spinning there are speed limitations due to the friction in the ring/traveler components, producing heat that leads to yarn breakages and lower-quality production. For facing this disadvantage, new technologies have been investigated such as the implementation of a SMB twisting system, which allows the increment of spindle speeds up to 50,000 rpm.
In the Chair of Dynamics and Mechanism Design, mathematical models are developed for the three-dimensional motion of the SMB and the yarn balloon. The dynamics of the magnetically levitating Permanent Magnet (PM) ring in the SMB system are simulated and validated in real experiments, measuring with laser sensors the position and orientation of the PM. The yarn balloon formed during the spinning is simulated in both transient and steady states, taking into account the effects of drag and contact with the balloon control ring.
Aspekte des Projekts
High-performance warp knitting is a stitch-forming textile manufacturing process. The working speed is limited to approx. 73 working cycles per second due to yarn failure. As part of the DFG research project "Analysis and modeling of short-term dynamic yarn processing processes using the example of high-performance warp knitting", the dynamic behavior of the yarn is being investigated by simulation.
Contact: Dipl.-Ing. Jan Schröder
Other projects
The Chair of Dynamics and Mechanism Design has contributed and continues to contribute its expertise in modeling and measuring dynamic systems to various other projects.
