• Datum: 2024-06-10 09:07:15
• Firma: KU Leuven
• Ansprechpartner: Mr. Warre Hannes
• E-Mail: warre.hannes@student.kuleuven.be
• Anschrift: Donk 26, 2400 Mol
• Telefon: 484701592
• Land: België
• Awareness:
• Other

Application description of the system Thesis Warre Hannes and Louis Segers: "Digital twin of a delta robot for sorting packaging materials" Abstract: Sorting packaging materials is an essential aspect of recycling processes, especially in remote areas where access to traditional facilities is limited. Designing portable, robotic Material Recovery Facilities is therefore vital. This research focuses on developing a digital twin that accurately matches its physical counterpart. Eventually, different machines can be proposed from this for separating various types of waste. To achieve this goal, a keops delta robot has been employed as a physical representation for the digital version. The robots kinematics is integrated to control the robot and allow it to sort different test cubes. Next, the digital twin is validated by comparison to the physical setup.

Once the digital twin can accurately mimic the physical setup, adjustments can be made to the digital delta robot. Based on this, conclusions can be drawn and a range of machines can be proposed for sorting various types of waste. This range of machines is determined by adjustments to the arms, end-effectors and size of the robot. This research illustrates the value of a digital twin in detecting potential problems in the machine without performing physical tests. Moreover, a digital twin can also be invaluable during the design phase of a new machine, allowing early progress in programming and analysis of the setup. A notable aspect of this research is the presence of a physical representation unlike many other studies. This increases the credibility and usability of the digital twin for future applications in the sorting industry.

This masters thesis investigates the potential added value of implementing a digital twin (DT) in combination with a keops delta robot for sorting packaging materials. To answer this main question, the research formulates several sub-questions to support it. First, it is essential to gain a thorough understanding of the current challenges and constraints related to packaging waste sorting. How can both the delta robot and the DT contribute to addressing these challenges? A second step in the process is to identify and integrate all physical elements into the virtual model. Third, it is necessary to collect relevant physical data and adapt the digital version with it. Thinking about which set of machines can fit into the RECLAIM project is done in the next stage. This range consists of different robots for different types of waste or different problem sites. This proposal requires further research to achieve a better result. The built setup can also eventually be used in a lab setup for the 3rd year undergraduate students. It can be used for both engineering experience 3 to have an introduction to a digital twin of a real robot and vision systems because of the use of a line camera.

After the thesis, the setup will be used by the research group for further research or other applications. In addition, it can also serve undergraduate students for a first introduction to digital twin technology. In addition, compared to other robots, the Igus delta robot has a better cost. Using a digital twin helps in optimizing the setup and further helps in saving during development.

Delta robot

Estimated cost savings € ?

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