M. Sc. Moritz Schappler

M. Sc. Moritz Schappler
Address
Appelstraße 11A
30167 Hannover
Building
Room
M. Sc. Moritz Schappler
Address
Appelstraße 11A
30167 Hannover
Building
Room
Role
Research Staff
Robotics & Autonomous Systems

RESEARCH

  • Combined Structural and Dimensional Synthesis for Task-specific Robot Kinematics

    When developing new robots structural and dimensional synthesis are usually regarded separately: First a structure characterized by the number, type and alignment of joints is chosen for a demanded robot task and in a second step the dimensional parameters e.g. lengths of the links are optimized for this structure.

    In my research I develop a method which finds all suitable robot structures for a given task (structural synthesis) and then optimizes all of these structures (dimensional synthesis). Only after this the decision for the chosen robot is made.

    The speciality lies in the inclusion of parallel and serial robots and in finding an approach with a lower level of abstraction than existing concepts. The reduction of the multitude of combinatoric possibilities for robot structures via the eliminiation of unsuited and merging of similiar structures is an important aspect.

SUPERVISED STUDENTS THESIS

2020 (ongoing)

  • Masterarbeit: Modeling and Dimensional Synthesis of Serial and Parallel Robots regarding Structural Stiffness
  • Bachelorarbeit: Multi-Objective Dimensional Synthesis of Robots with Tools of Design Methodology
  • Masterarbeit: Modeling and Structural Synthesis of Parallel Robots with Five Degrees of Freedom

2019

  • Student Thesis: Comparison of Orientation Expressions in Gradient-based Inverse Kinematics of Serial Chain Robots
  • Student Thesis: Reduction of Model Complexity of Serial-Hybrid Robotic Palletizers
  • Master's Thesis: Investigation of Orientation Expressions for Kinematics and Dynamics Modeling of Parallel Robots
  • Master's Thesis: Investigation on the Possibilities of Collision Detection for Parallel Robots Student Thesis: Automatic Dimensioning of Links and Actuators for the Dimensional Synthesis of Serial Robots
  • Master's Thesis: Investigation on the Possibilities of Active Compliance Control for Parallel Robots
  • Master's Thesis: Comparison of Performance and Modeling of Parallel Robots with Hybrid and Serial Chain Legs
  • Student Thesis: Structural Synthesis of Serial Link Robots for Tasks with Rotational Symmetry
  • Student Thesis: Implementation of a Structurally Independant Dynamics Modelling of Parallel Kinematic Machines based on Full Kinematic Constraints
  • Bachelor's Thesis: Investigation of Inertial Effects of Additional Components on Mechanical Systems
  • Master's Thesis: Structural Synthesis of Serial Kinematic Leg Chains for Parallel Robots
  • Master's Thesis: Automatic Dimensioning of Drive Trains, Joints and Links for Parallel Robots
  • Master's Thesis: Structural Synthesis of Parallel Robots with Reduced Mobility
  • Master's Thesis: Actuation and integration of a suturing device into the DLR MiroSurge System (extern)

2018

  • Student Thesis: Modelling and Dimensioning of Links and Actuators for Automatically Generated Robot Structures
  • Student Thesis: Modelling of Kinematic Constraints of Hybrid Serial Chain Robots with Planar Parallel Mechanisms
  • Student Thesis: Implementation of a Structurally Independant Dynamics Modelling of Parallel Kinematic Machines

2017

  • Bachelor's Thesis: Implementation and Evaluation of a Prosthesis Control Unit on a mobile ARM-based computing Platform (at IRT)
  • Bachelor's Thesis: Design and Implementation of an EtherCAT Slave Board for the Integration of Force/Torque Sensors and IMU Sensors into a mobile Upper Limb Prosthesis (at IRT)
  • Master's Thesis: Conception, Construction and prototypic Set-up of an assistive Exoskeleton for an Arm Prosthethis (at IRT)

2015

  • Master's Thesis: Modelling, Simulation and Control Design of an assistive Exoskeleton Arm (at IRT)
  • Bachelor's Thesis: Modelling and Simulation of an Assistive Exoskeleton Arm in SimMechanics (at IRT)