The Institute of Mechatronic Systems owns and is connected to well-equipped laboratories and workshops. In the following, a variety of devices is listed.
The imes makes use of a plant model with serial and parallel kinematics for experimental evaluation of innovative approaches regarding robotics and control. Furthermore, the set-up is frequently used for educational purposes.
- Delta-picker with conveyer belts
- Serial robot with linear stage
- High storage and retrieval system
Identification & Control
Test Vehicles and measurement equipment
In order to test and to record data, the Institute of Mechatronic Systems has its own test vehicles.
- Vehicle Type: Volkswagen Touran
- Engine: 1,9 l, 77 kW
- Drive: Front-wheel drive, manual transmission
- Vehicle Type: Volkswagen Golf GTE Plug-In Hybrid
- Engine:1,4 l, 110 kW, 250 Nm
- electric engine: synchronous motor, 75 kW
- Drive: Parallel-Hybrid
- Inertial measurement unit for vehicle dynamic measurements
- GPS- and Kalman Filter-based measurements
- measurements of accelerations and rotations
- founded by BMWi
Medical Technology & Image Processing
Optical Coherence Tomography
The Optical Coherence Tomography (OCT) is one of the most powerful emerging optical imaging modalities. The Swept Source Fourier Domain OCT of Thorlabs Inc. has the capability of producing high resolution, three dimensional image data.
- Center Wavelength: 1325 nm
- Spectral Bandwidth: >100 nm
- Imaging Volume: 10 mm x 10 mm x 3 mm
- Axial Resolution: ca. 10 µm
- Transverse Resolution: ca. 15 µm
Optical Navigation Systems
The Institute of Mechatronic Systems has optical navigation systems available, that allow for 6DOF pose-calculations of objects in space. The laboratories are equipped with the following devices: NDI Polaris, Qualisys Oqus 4 and Advanced Realtime Tracking GmbH ARTTrack2.
Specification NDI polaris & ART
- Measuring accuracy: 0.3 mm
- Refresh-rate: 60 Hz
- Measuring range: Distances up to 4 meters
Specification Qualisys Oqus 4
- Measuring accuracy: 0,1mm
- Refresh-rate: 480Hz (up to10 kHz with reduced FOV)
- Measuring range: Distances up to 25 meters
High Frequency Er:YAG Laser Source
The diode-pumped laser source DPM-15 (Pantec Engineering/3m.i.k.r.o.n) is well suited for ablating hydrous material due to its specific wavelength. Biological hard tissue (bone) as well as soft tissue can be processed with optical scanners in a volume of 10 x 10 x 10 mm3 and with tunable speed or ablation rate.
- Power output up to 9 W
- Pulse frequency 50 Hz to 500 Hz
- Focal diameter 400 µm
- Ablation volume 10 x 10 x 10 mm3 (extendable)
3D X-Ray Imaging System
The Ziehm Vision-FD-Vario 3D is a modern and fully digital flatpanel x-ray imaging system providing both detail rich 2D images and 3D data sets. The system at the institute is not intended to be used on human beings or animals.
- 20 x 20 cm2 flatpanel detector
- resolution: 2.4 lp/mm
- up to 25 frames per second
- 5123 voxel resolution of 3D data sets
Mobile Coordinate Measuring Machine
The Institute of Mechatronic Systems has a mobile coordinate measuring machine (Faro GagePlus) available.
- Volumetric accuracy: 0,025 mm
- Spherical workspace having a diameter of 1,2 m
Research is performed with a stereo operating microscope Allegra 50 from Möller-Wedel GmbH for scaled-up vision during clinically oriented application. Future image-guided interventions and further medical technogy development could profit from this device, e.g. in experimental ENT surgery.
- 5-step magnification changer (2x, 4x, 8x, 16x und 32x) at f=250 mm
- Coaxial halogen lamp illumination
- Stereo camera adapter
To investigate the feasability to sterilize medical instruments we use the autoclave system Melag Vacuklav 23b+. It is a sterilization system class B, which is suitable for continuous steam vacuum sterilization processes.
- Stand-alone (no fixed water connection)
- Volume: 22 Liter
- Tray Dimensions: 19 x 42 x 2 cm (B x T x H)
- 230 V / 2500 W
- Weight: 48 kg
- Loading: 5 kg instruments
Robotics & Autonomous Systems
Actuated multi axes kinematics
The Institute of Mechatronic Systems has several serial and parallel kinematic robotic systems available. The laboratories are equipped with industrial articulated robots as well as a parallel 3(P)RRR planar robot.
Redundant Serial Light Weight Robot
Due to its integrated sensors and its redundant seventh axis the KUKA Light Weight Robot (LWR) is very well suited for human-machine-interaction. Its ligth weight of only 15 kg combined with a nominal load of 7 kg allows the robot to be energy efficient, flexible in its working position and to conduct a variety of assignments.
- 7 kg nominal load (max. 14 kg)
- 1.84 m3 workspace volume
- 0.05 mm repeatability
- 7 actuated rotational axes
Mobile Robot "KMR iiwa"
The KMR iiwa is a combination of a mobile platform (KMP omniMove 175) and a lightweight robot (LBR iiwa 14 R820). The robot can navigate autonomously and is designed for human-robot interaction. With its flexibility, the KMR iiwa is particularly suited for integration in an Industry 4.0 environment.
- Arm: 14 kg rated payload
- Arm: 820 mm max. reach
- Arm: 7 controlled axes
- Arm: Torque sensors in all joints
- Platform: 145 kg max. payload
- Platform: Obstacle detection with laser scanners and ultrasonic sensors
- Platform: 8 h battery operation time
Parallel Precision Robot
The H-824 6-axis-positioning system of Physik Instrumente (PI) GmbH & Co. KG is particularly suitable for high precision applications. In comparison with serial robots, this compact parallel robot with six degrees of freedom has a higher stiffness and reliability.
- 10 kg nominal load
- Travel ranges up to 45 mm / 25°
- 7 nm resolution
- 0.1 µm repeatability