Flanders Make

Flanders Make is the strategic research centre for the manufacturing industry. Our mission is to strengthen the long-term international competitiveness of the Flemish manufacturing industry. That’s why we work together with SMEs and large companies on pre-competitive, industry-driven technological research, resulting in concrete product and production innovation in the vehicle industry, the manufacturing industry, and production environments.

Problem Context

Modern robotic systems often include external cables, such as pneumatic tubes and electric wires for end-effector control (e.g., a gripper) and Ethernet wires for vision systems.

However, the cable kinematics are typically ignored in collision detection algorithms. Usually because the cables are mounted by the user of the robotic system and not by the manufacturer. This oversight can result in hardware damage or cables getting caught, introducing additional load torque that must be compensated for.

To tackle this, the collision detection algorithm should be expanded with these cable dynamics.

Goal of the thesis

The goal of this thesis is two-fold:

1. Develop a model for cable kinematics. For given cable mount positions, the kinematics of the robot should be expanded with the cable kinematics. This model should then be implemented in the collision detection algorithm.
2. Optimal cable mount positions. In order to allow the robotic system to operate at its maximum range, an optimization algorithm should decide how the cable track should be mounted on the robotic arms. A constraint can be the number of mounting positions. The algorithm delivers the ideal mounting positions.

Profile Student

• Bachelor degree in mechanical, control, automation or mechatronic engineering;
• Basic knowledge of robot kinematics;
• Python is the preferred software language, but the basics can be learned;
• Passionate by research and new technologies with focus on applications for machines or mechatronic systems of the companies;
• Result oriented, responsible and proactive;
• Eager to learn and a team player.

This assignment can only be executed by a thesis student from a Belgian university.

Practical Data

• Thesis: This assignment is a topic for a master thesis for a Belgian university.
• Follow up moments take place at the offices of Flanders Make located in Kortrijk, Belgium.

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