Fast and Simple Interacting Models of Drape Tool and Ply Material for Handling Free Hanging, Pre-impregnated Carbon Fibre Material

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Abstrakt

Robotic layup of pre-impregnated (prepreg) fiber plies onto complex molds is a hitherto unsolved problem. At the University of Southern Denmark (SDU), we have gathered an international consortium with industrial keyplayers for addressing this gap in the FlexDraperproject. We use an underactuated array of suction cups to handle the plies and our approach is based on model- and simulation-based control of the shaping of the tool and the free hanging plies during the draping procedure. This requires fast computable models in the draping control loop. In this paper, we present a tool model that predicts the 6D configuration of the suction cups based on the actuator positions and subsequently a ply model that predicts the shape of the free hanging prepreg fiber plies with perpendicular fiber directions, where the ply is held (clamped) at a set of locations that are not too far apart. Rather than using computationally expensive physical techniques, e.g. FEM simulations, our ply model is only based on interpolations between the held locations satisfying curve length constraints in fiber directions. The paper also contains experimental tests for the accuracy of the overall model.
OriginalsprogEngelsk
TitelInformatics in Control, Automation and Robotics : 15th International Conference, ICINCO 2018, Porto, Portugal, July 29-31, 2018, Revised Selected Papers
RedaktørerOleg Gusikhin, Kurosh Madani
ForlagSpringer
Publikationsdato2020
Sider1-25
Artikelnummer1
AnsøgerInnovationsfonden
ISBN (Trykt)978-3-030-31992-2
ISBN (Elektronisk)978-3-030-31993-9
DOI
StatusUdgivet - 2020
Begivenhed15th International Conference on Informatics in Control, Automation and Robotics - Porto, Portugal
Varighed: 29. jul. 201831. jul. 2018

Konference

Konference15th International Conference on Informatics in Control, Automation and Robotics
LandPortugal
ByPorto
Periode29/07/201831/07/2018
NavnLecture Notes in Electrical Engineering
Vol/bind613
ISSN1876-1100

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