Estimating the remaining useful lifetime of a vertical gripper by using prognostics and health management

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dc.contributor.advisorJooste, Wyhanen_ZA
dc.contributor.authorMert, Serkanen_ZA
dc.contributor.otherStellenbosch University. Faculty of Engineering. Dept. of Industrial Engineering. Engineering Management (MEM).en_ZA
dc.date.accessioned2023-02-12T17:16:25Zen_ZA
dc.date.accessioned2023-11-16T08:35:11Zen_ZA
dc.date.available2023-02-12T17:16:25Zen_ZA
dc.date.available2023-11-16T08:35:11Zen_ZA
dc.date.issued2023-02en_ZA
dc.descriptionThesis (MEM)--Stellenbosch University, 2023.en_ZA
dc.description.abstractENGLISH ABSTRACT: Industrial systems are becoming extremely complex in order to meet the increasing requirements in production environments. The use of flexible end effectors helps to support humans in the context of industrial evolution. Grippers are one of the most widely used groups of end effectors. Like all other systems that execute transferring work, grippers exhibit degradation behavior. The property of degradation must be counteracted with appropriate maintenance work to enable a reliable production process. One field of research within prognostics and health management is the estimation of the remaining useful lifetime for such industrial systems and their components. Many successful applications have already been published, but research is striving to extend this to as yet untreated industrial systems and components. In this context, this research study introduces a method to estimate the remaining useful lifetime for a vertical robotic gripper. For the development of the method, a literature study is conducted, which lists and explains the existing approaches. Based on the selection of an individual vertical gripper, an experimental setup is developed. The experimental setup obtains data in regards to the gripper force. The obtained data is then used to indicate degradation and determine the failure thresholds. With the support of a prediction model, further degradation is forecasted and compared to the failure thresholds. This approach concludes the estimation about the remaining useful lifetime. The overall objective of this information is to support a demand-oriented adjustment of the maintenance measures.en_ZA
dc.description.abstractAFRIKAANS OPSOMMING: Industriële stelsels neem voortdurend toe in kompleksiteit om aan die toenemende eise in produksieomgewings te voldoen. Die gebruik van buigsame einde effektore help om mense te ondersteun. Een van die mees wydverspreide groepe einde effektore is grypers. Soos met alle ander stelsels wat oordragwerk verrig, toon grypers ook degradasiegedrag. Die eienskap van degradasie moet teengewerk word met toepaslike instandhoudingswerk om ‘n betroubare produksieproses moontlik te maak. Die navorsingsveld van prognostiese- en kondisie instandhouding sluit die vooruitskatting van die oorblywende bruikbare leeftyd vir sulke industriële stelsels en hul komponente in. Baie suksesvolle toepassings van die oorblywende bruikbare leeftydvooruitskatting is reeds gepubliseer, maar navorsing probeer dit uitbrei na industriële stelsels en komponente wat nog nie bestudeer is nie. In hierdie konteks stel hierdie navorsingstudie 'n metode bekend om die oorblywende bruikbare leeftyd vir 'n vertikale robotgryper te skat. Vir die ontwikkeling van die metode word 'n literatuurstudie uitgevoer wat die bestaande benaderings lys en verduidelik. Op grond van die keuse van 'n individuele vertikale gryper word 'n eksperimentele opstelling ontwikkel. Die eksperimentele opstelling verkry data met betrekking tot die grypkrag. Die data wat verkry is, word dan gebruik om degradasie aan te dui en die falingdrempels te bepaal. Met die ondersteuning van 'n voorspellingsmodel word verdere agteruitgang voorspel en vergelyk met die falingdrempels. Hierdie benadering sluit die skatting oor die oorblywende bruikbare leeftyd af. Die oorhoofse doel van hierdie inligting is om 'n vraaggerigte aanpassing van die instandhoudingsmaatreëls te ondersteun.af_ZA
dc.description.versionMastersen_ZA
dc.format.extentxiv, 115 pages : illustrationsen_ZA
dc.identifier.urihttps://scholar.sun.ac.za/handle/10019.1/128694
dc.language.isoen_ZAen_ZA
dc.publisherStellenbosch : Stellenbosch Universityen_ZA
dc.rights.holderStellenbosch Universityen_ZA
dc.subject.lcshIndustrial engineeringen_ZA
dc.subject.lcshArtificial intelligence -- Medical applicationsen_ZA
dc.subject.lcshManufacturing processesen_ZA
dc.subject.lcshIndustrial efficiencyen_ZA
dc.subject.lcshIndustrial revolutionen_ZA
dc.subject.lcshDeep learning (Machine learning)en_ZA
dc.subject.lcshPrognostics and Health Managementen_ZA
dc.titleEstimating the remaining useful lifetime of a vertical gripper by using prognostics and health managementen_ZA
dc.typeThesisen_ZA
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