The Fraunhofer IFF continued the work on Task 2 “Realisation of passive kinematics” and began working on task 3 “Revaluation of path planning”. The experiment will probably reach milestone M1 “realisation of passive kinematics” at the end of November also with providing the Deliverable DHyropa2 “Passive kinematics prototype”.

The flexible arms have been modified and reassembled to prepare the scenario validation in task 5 ”Setup of test arrangement”. The initial tension of the arms was adjusted to the intended handling weights and the hydraulic system (for locking and unlocking the arms) was upgraded to the required pressure, flow rates and strokes. The mounting on the robot cell will be the next step.

Based on the classification of the use cases the manipulating of 3D tubes will be selected to demonstrate the properties of the flexible robot system. Therefore the number of joints must be matching to the desired handling tasks. For the grasping of different 3D formed tubes the arms will be mounted directly at the clamping table. The robot will achieve the reconfiguration of the arms and the transport of the tubes. The task of the flexible arms is to fix the tubes in a defined position at the table for executing different manufacturing steps such as cutting/trimming, connecting, and marking/labelling with the tubes. Such tubes are typically used in the automotive industry for the piping of ventilation and air conditioning or braking and steering circuits. Future possible uses are the production and assembling of 3D tubes for connecting of fuel cells with peripherical devices.