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
Number of pages25
Volume613
PublisherSpringer International Publishing AG
Publication date2019
Edition1
Pages1-25
Article number1
Chapter1
Commissioning bodyInnovationsfonden
ISBN (Print)978-3-030-31992-2
ISBN (Electronic)978-3-030-31993-9
DOIs
Publication statusPublished - 2019
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

Fingerprint

Carbon fibers
Fibers
Molds
Interpolation
Robotics
Actuators
Finite element method

Keywords

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

Cite this

Gunnarsson, G. G., Nielsen, O. W., Schlette, C., & Petersen, H. G. (2019). Fast and Simple Interacting Models of Drape Tool and Ply Material for Handling Free Hanging, Pre-impregnated Carbon Fibre Material. In O. Gusikhin, & K. Madani (Eds.), Informatics in Control, Automation and Robotics: 15th International Conference, ICINCO 2018, Porto, Portugal, July 29-31, 2018, Revised Selected Papers (1 ed., Vol. 613, pp. 1-25). [1] Springer International Publishing AG. Lecture Notes in Electrical Engineering, Vol.. 613 https://doi.org/10.1007/978-3-030-31993-9
Gunnarsson, Gudmundur Geir ; Nielsen, Ole Wennerberg ; Schlette, Christian ; Petersen, Henrik Gordon. / Fast and Simple Interacting Models of Drape Tool and Ply Material for Handling Free Hanging, Pre-impregnated Carbon Fibre Material. Informatics in Control, Automation and Robotics: 15th International Conference, ICINCO 2018, Porto, Portugal, July 29-31, 2018, Revised Selected Papers. editor / Oleg Gusikhin ; Kurosh Madani. Vol. 613 1. ed. Springer International Publishing AG, 2019. pp. 1-25 (Lecture Notes in Electrical Engineering, Vol. 613).
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Gunnarsson, GG, Nielsen, OW, Schlette, C & Petersen, HG 2019, Fast and Simple Interacting Models of Drape Tool and Ply Material for Handling Free Hanging, Pre-impregnated Carbon Fibre Material. in O Gusikhin & K Madani (eds), Informatics in Control, Automation and Robotics: 15th International Conference, ICINCO 2018, Porto, Portugal, July 29-31, 2018, Revised Selected Papers. 1 edn, vol. 613, 1, Springer International Publishing AG, Lecture Notes in Electrical Engineering, vol. 613, pp. 1-25, 15th International Conference on Informatics in Control, Automation and Robotics, Porto, Portugal, 29/07/2018. https://doi.org/10.1007/978-3-030-31993-9

Fast and Simple Interacting Models of Drape Tool and Ply Material for Handling Free Hanging, Pre-impregnated Carbon Fibre Material. / Gunnarsson, Gudmundur Geir; Nielsen, Ole Wennerberg; Schlette, Christian; Petersen, Henrik Gordon.

Informatics in Control, Automation and Robotics: 15th International Conference, ICINCO 2018, Porto, Portugal, July 29-31, 2018, Revised Selected Papers. ed. / Oleg Gusikhin; Kurosh Madani. Vol. 613 1. ed. Springer International Publishing AG, 2019. p. 1-25 1 (Lecture Notes in Electrical Engineering, Vol. 613).

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

TY - CHAP

T1 - Fast and Simple Interacting Models of Drape Tool and Ply Material for Handling Free Hanging, Pre-impregnated Carbon Fibre Material

AU - Gunnarsson, Gudmundur Geir

AU - Nielsen, Ole Wennerberg

AU - Schlette, Christian

AU - Petersen, Henrik Gordon

PY - 2019

Y1 - 2019

N2 - 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.

AB - 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.

KW - Robotic Layup of Fiber Plies

KW - Modeling Underactuated Tools

KW - Modeling Shapes of Deformable Objects

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DO - 10.1007/978-3-030-31993-9

M3 - Book chapter

SN - 978-3-030-31992-2

VL - 613

SP - 1

EP - 25

BT - Informatics in Control, Automation and Robotics

A2 - Gusikhin, Oleg

A2 - Madani, Kurosh

PB - Springer International Publishing AG

ER -

Gunnarsson GG, Nielsen OW, Schlette C, Petersen HG. Fast and Simple Interacting Models of Drape Tool and Ply Material for Handling Free Hanging, Pre-impregnated Carbon Fibre Material. In Gusikhin O, Madani K, editors, Informatics in Control, Automation and Robotics: 15th International Conference, ICINCO 2018, Porto, Portugal, July 29-31, 2018, Revised Selected Papers. 1 ed. Vol. 613. Springer International Publishing AG. 2019. p. 1-25. 1. (Lecture Notes in Electrical Engineering, Vol. 613). https://doi.org/10.1007/978-3-030-31993-9