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Design of Automated Robotic System for Draping Prepreg Composite Fabrics

2020; Cambridge University Press; Volume: 39; Issue: 1 Linguagem: Inglês

10.1017/s0263574720000193

1469-8668

Lars‐Peter Ellekilde, Jakob Wilm, Olav Wendelboe Nielsen, Christian Krogh, Ewa Kristiansen, Gudmundur G. Gunnarsson, Thor Stærk Stenvang, Johnny Jakobsen, Morten Kristiansen, Jens Ammitzbøll Glud, Morten Rieger Hannemose, Henrik Aanæs, Joakim de Kruijk, Ingolf Sveidahl, Ataul Aziz Ikram, Henrik Gordon Petersen,

Innovations in Concrete and Construction Materials

SUMMARY This paper presents a novel solution for precision draping of prepreg composite fabrics onto double curved molds. Our contributions relate to system design, including hardware and software components, and to system integration. On the hardware side, design and implementation of a drape tool with up to 120 suction cups positioned individually by linear actuators are described. On the software side, design and implementation of the software architecture are presented, along with necessary algorithms within sensor technologies and mathematical modeling. The essential system’s components were verified individually, and the entire integrated system was successfully validated in the Proof-of-Concept experiments, performed on an experimental physical model of the system.