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Design of Automated Robotic System for Draping Prepreg Composite Fabrics

Published online by Cambridge University Press:  24 April 2020

L.-P. Ellekilde Open the ORCID record for L.-P. Ellekilde [Opens in a new window] ,
J. Wilm Open the ORCID record for J. Wilm [Opens in a new window] ,
O. W. Nielsen ,
C. Krogh Open the ORCID record for C. Krogh [Opens in a new window] ,
E. Kristiansen Open the ORCID record for E. Kristiansen [Opens in a new window] ,
G. G. Gunnarsson Open the ORCID record for G. G. Gunnarsson [Opens in a new window] ,
T. S. Stenvang ,
J. Jakobsen ,
M. Kristiansen Open the ORCID record for M. Kristiansen [Opens in a new window]  and
J. A. Glud
...Show all authors
L.-P. Ellekilde
Affiliation:
University of Southern Denmark, Campusvej 55, 5230 Odense M, Denmark E-mails: lpe@mmmi.sdu.dk, own@mmmi.sdu.dk, gunu@mmmi.sdu.dk, thss@mmmi.sdu.dk, hgp@mmmi.sdu.dk
J. Wilm
Affiliation:
Technical University of Denmark, Building 321, 2800 Lyngby, Denmark, E-mails: jakw@dtu.dk, mohan@dtu.dk, aanes@dtu.dk
O. W. Nielsen
Affiliation:
University of Southern Denmark, Campusvej 55, 5230 Odense M, Denmark E-mails: lpe@mmmi.sdu.dk, own@mmmi.sdu.dk, gunu@mmmi.sdu.dk, thss@mmmi.sdu.dk, hgp@mmmi.sdu.dk
C. Krogh
Affiliation:
Aalborg University, Fibigerstræde 16, 9220 Aalborg Ø, Denmark E-mails: ck@m-tech.aau.dk, joj@m-tech.aau.dk, morten@m-tech.aau.dk, jag@m-tech.aau.dk
E. Kristiansen*
Affiliation:
Aalborg University, Fibigerstræde 16, 9220 Aalborg Ø, Denmark E-mails: ck@m-tech.aau.dk, joj@m-tech.aau.dk, morten@m-tech.aau.dk, jag@m-tech.aau.dk
G. G. Gunnarsson
Affiliation:
University of Southern Denmark, Campusvej 55, 5230 Odense M, Denmark E-mails: lpe@mmmi.sdu.dk, own@mmmi.sdu.dk, gunu@mmmi.sdu.dk, thss@mmmi.sdu.dk, hgp@mmmi.sdu.dk
T. S. Stenvang
Affiliation:
University of Southern Denmark, Campusvej 55, 5230 Odense M, Denmark E-mails: lpe@mmmi.sdu.dk, own@mmmi.sdu.dk, gunu@mmmi.sdu.dk, thss@mmmi.sdu.dk, hgp@mmmi.sdu.dk
J. Jakobsen
Affiliation:
University of Southern Denmark, Campusvej 55, 5230 Odense M, Denmark E-mails: lpe@mmmi.sdu.dk, own@mmmi.sdu.dk, gunu@mmmi.sdu.dk, thss@mmmi.sdu.dk, hgp@mmmi.sdu.dk
M. Kristiansen
Affiliation:
Aalborg University, Fibigerstræde 16, 9220 Aalborg Ø, Denmark E-mails: ck@m-tech.aau.dk, joj@m-tech.aau.dk, morten@m-tech.aau.dk, jag@m-tech.aau.dk
J. A. Glud
Affiliation:
Aalborg University, Fibigerstræde 16, 9220 Aalborg Ø, Denmark E-mails: ck@m-tech.aau.dk, joj@m-tech.aau.dk, morten@m-tech.aau.dk, jag@m-tech.aau.dk
M. Hannemose
Affiliation:
Technical University of Denmark, Building 321, 2800 Lyngby, Denmark, E-mails: jakw@dtu.dk, mohan@dtu.dk, aanes@dtu.dk
H. Aanæs
Affiliation:
Technical University of Denmark, Building 321, 2800 Lyngby, Denmark, E-mails: jakw@dtu.dk, mohan@dtu.dk, aanes@dtu.dk
J. de Kruijk
Affiliation:
Netherlands Aerospace Centre, Voorsterweg 31, 8316 PR Marknesse, The Netherlands E-mail: joachim.de.kruijk@nlr.nl
I. Sveidahl
Affiliation:
RoboTool A/S,Vestermarksvej 10, 6600 Vejen, Denmark E-mail: is@robotool.com
A. Ikram
Affiliation:
Terma Aerostructures A/S, Fabrikvej 1, 8500 Grenaa, Denmark E-mail: aik@terma.com
H. G. Petersen
Affiliation:
University of Southern Denmark, Campusvej 55, 5230 Odense M, Denmark E-mails: lpe@mmmi.sdu.dk, own@mmmi.sdu.dk, gunu@mmmi.sdu.dk, thss@mmmi.sdu.dk, hgp@mmmi.sdu.dk
*
*Corresponding author. E-mail: ewa@m-tech.aau.dk
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Summary

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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.

Keywords

Industrial roboticsComposite manufacturingSystem developmentAutomated draping process

Information

Type
Articles
Information
Robotica , Volume 39 , Issue 1 , January 2021 , pp. 72 - 87
Creative Commons
Creative Common License - CCCreative Common License - BY
This is an Open Access article, distributed under the terms of the Creative Commons Attribution licence (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted re-use, distribution, and reproduction in any medium, provided the original work is properly cited.
Copyright
Copyright © The Author(s) 2020. Published by Cambridge University Press

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