Generation of feasible gripper trajectories in automated composite draping by means of optimization

Prepreg composites find great applicability in e.g. the automotive and aerospace industries. A major challenge with this class of material systems is the accurate placement of a fabric that can be very tacky and hence sticks to the mold surface. In this study, automatic draping of entire plies of wo...

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Autores principales:	Christian Krogh, James A. Sherwood, Johnny Jakobsen
Formato:	article
Lenguaje:	EN
Publicado:	Taylor & Francis Group 2019
Materias:	woven prepreg draping trajectory optimization offline motion planning automation Polymers and polymer manufacture TP1080-1185 Automation T59.5
Acceso en línea:	https://doaj.org/article/28db44eb25c0432bb0bca6b935d1052b
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id	oai:doaj.org-article:28db44eb25c0432bb0bca6b935d1052b
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spelling	oai:doaj.org-article:28db44eb25c0432bb0bca6b935d1052b2021-12-02T09:31:45ZGeneration of feasible gripper trajectories in automated composite draping by means of optimization2055-035910.1080/20550340.2019.1699691https://doaj.org/article/28db44eb25c0432bb0bca6b935d1052b2019-10-01T00:00:00Zhttp://dx.doi.org/10.1080/20550340.2019.1699691https://doaj.org/toc/2055-0359Prepreg composites find great applicability in e.g. the automotive and aerospace industries. A major challenge with this class of material systems is the accurate placement of a fabric that can be very tacky and hence sticks to the mold surface. In this study, automatic draping of entire plies of woven prepregs is considered. A robot end effector with a grid of actuated grippers is under development and it has the ability to position the plies onto double-curved mold surfaces of low curvature. The key issue is how the grippers of the end effector should move to achieve successful drapings of the plies that meet the quality requirements of the industry. In this study, an approximate ply model based on cables with bending stiffness is applied in an optimization framework where the gripper movements constitute the design variables. The optimization framework has taken inspiration from manual layup procedures. The numerical draping results indicate the usefulness of the cable model used in connection with the optimization framework. The next step is to implement the generated gripper trajectories on the physical robot system.Christian KroghJames A. SherwoodJohnny JakobsenTaylor & Francis Grouparticlewoven prepregdrapingtrajectory optimizationoffline motion planningautomationPolymers and polymer manufactureTP1080-1185AutomationT59.5ENAdvanced Manufacturing: Polymer & Composites Science, Vol 5, Iss 4, Pp 234-249 (2019)
institution	DOAJ
collection	DOAJ
language	EN
topic	woven prepreg draping trajectory optimization offline motion planning automation Polymers and polymer manufacture TP1080-1185 Automation T59.5
spellingShingle	woven prepreg draping trajectory optimization offline motion planning automation Polymers and polymer manufacture TP1080-1185 Automation T59.5 Christian Krogh James A. Sherwood Johnny Jakobsen Generation of feasible gripper trajectories in automated composite draping by means of optimization
description	Prepreg composites find great applicability in e.g. the automotive and aerospace industries. A major challenge with this class of material systems is the accurate placement of a fabric that can be very tacky and hence sticks to the mold surface. In this study, automatic draping of entire plies of woven prepregs is considered. A robot end effector with a grid of actuated grippers is under development and it has the ability to position the plies onto double-curved mold surfaces of low curvature. The key issue is how the grippers of the end effector should move to achieve successful drapings of the plies that meet the quality requirements of the industry. In this study, an approximate ply model based on cables with bending stiffness is applied in an optimization framework where the gripper movements constitute the design variables. The optimization framework has taken inspiration from manual layup procedures. The numerical draping results indicate the usefulness of the cable model used in connection with the optimization framework. The next step is to implement the generated gripper trajectories on the physical robot system.
format	article
author	Christian Krogh James A. Sherwood Johnny Jakobsen
author_facet	Christian Krogh James A. Sherwood Johnny Jakobsen
author_sort	Christian Krogh
title	Generation of feasible gripper trajectories in automated composite draping by means of optimization
title_short	Generation of feasible gripper trajectories in automated composite draping by means of optimization
title_full	Generation of feasible gripper trajectories in automated composite draping by means of optimization
title_fullStr	Generation of feasible gripper trajectories in automated composite draping by means of optimization
title_full_unstemmed	Generation of feasible gripper trajectories in automated composite draping by means of optimization
title_sort	generation of feasible gripper trajectories in automated composite draping by means of optimization
publisher	Taylor & Francis Group
publishDate	2019
url	https://doaj.org/article/28db44eb25c0432bb0bca6b935d1052b
work_keys_str_mv	AT christiankrogh generationoffeasiblegrippertrajectoriesinautomatedcompositedrapingbymeansofoptimization AT jamesasherwood generationoffeasiblegrippertrajectoriesinautomatedcompositedrapingbymeansofoptimization AT johnnyjakobsen generationoffeasiblegrippertrajectoriesinautomatedcompositedrapingbymeansofoptimization
_version_	1718398055488684032

Generation of feasible gripper trajectories in automated composite draping by means of optimization

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