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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, 5230Odense 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, 2800Lyngby, Denmark, E-mails: jakw@dtu.dk, mohan@dtu.dk, aanes@dtu.dk
O. W. Nielsen
Affiliation:
University of Southern Denmark, Campusvej 55, 5230Odense 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, 9220Aalborg 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, 9220Aalborg 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, 5230Odense 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, 5230Odense 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, 5230Odense 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, 9220Aalborg 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, 9220Aalborg 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, 2800Lyngby, Denmark, E-mails: jakw@dtu.dk, mohan@dtu.dk, aanes@dtu.dk
H. Aanæs
Affiliation:
Technical University of Denmark, Building 321, 2800Lyngby, 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, 6600Vejen, Denmark E-mail: is@robotool.com
A. Ikram
Affiliation:
Terma Aerostructures A/S, Fabrikvej 1, 8500Grenaa, Denmark E-mail: aik@terma.com
H. G. Petersen
Affiliation:
University of Southern Denmark, Campusvej 55, 5230Odense 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
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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