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

Research output: Chapter in Book/Report/Conference proceedingBook chapterResearchpeer-review

Abstract

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.
Original languageEnglish
Title of host publicationInformatics in Control, Automation and Robotics : 15th International Conference, ICINCO 2018, Porto, Portugal, July 29-31, 2018, Revised Selected Papers
EditorsOleg Gusikhin, Kurosh Madani
PublisherSpringer
Publication date2020
Pages1-25
Article number1
Commissioning bodyInnovationsfonden
ISBN (Print)978-3-030-31992-2
ISBN (Electronic)978-3-030-31993-9
DOIs
Publication statusPublished - 2020
Event15th International Conference on Informatics in Control, Automation and Robotics - Porto, Portugal
Duration: 29. Jul 201831. Jul 2018

Conference

Conference15th International Conference on Informatics in Control, Automation and Robotics
CountryPortugal
CityPorto
Period29/07/201831/07/2018
SeriesLecture Notes in Electrical Engineering
Volume613
ISSN1876-1100

Keywords

  • Robotic Layup of Fiber Plies
  • Modeling Underactuated Tools
  • Modeling Shapes of Deformable Objects

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