Modeling the robotic manipulation of woven carbon fiber prepreg plies onto double curved molds: a path dependent problem

Christian Krogh, Jens Ammitzbøll Glud, Johnny Jakobsen

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Resumé

This paper investigates the behavior of woven prepreg plies being placed on a weakly double curved mold by a robot. It is essential that the draped configuration is free from wrinkles. The baseline is a Virtual Draping Environment (VDE) that can plan and simulate robot draping sequences. It consists of a kinematic mapping algorithm for obtaining target points for the grippers on the mold surface. A simple motion planner is used to calculate the trajectories of the grippers. Here, two conceptually different draping strategies are employed. Finally, the two generated draping sequences are simulated using a transient, nonlinear Finite Element (FE) model and compared w.r.t. their predicted wrinkle formations. Material data is obtained by means of tension, bias-extension and cantilever tests. The numerical examples show that the VDE can aid in developing the automatic draping system but that the generation of feasible draping sequences is highly path dependent and non-trivial.
OriginalsprogEngelsk
TidsskriftJournal of Composite Materials
Vol/bind53
Udgave nummer15
Sider (fra-til)2149-2164
Antal sider15
ISSN0021-9983
DOI
StatusUdgivet - 20 maj 2019

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Grippers
Molds
Virtual reality
Carbon fibers
Robotics
Robots
Kinematics
Trajectories
carbon fiber

Emneord

  • Prepreg
  • Drapering
  • Finite Element Modeling
  • Kinematic Modeling
  • Automation

Citer dette

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Modeling the robotic manipulation of woven carbon fiber prepreg plies onto double curved molds: a path dependent problem. / Krogh, Christian; Glud, Jens Ammitzbøll; Jakobsen, Johnny.

I: Journal of Composite Materials, Bind 53, Nr. 15, 20.05.2019, s. 2149-2164.

Publikation: Bidrag til tidsskriftTidsskriftartikelForskningpeer review

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