Design of Automated Robotic System for Draping Prepreg Composite Fabrics

Lars-Peter Ellekilde; Jakob Wilm; Ole Wennerberg Nielsen; Christian Krogh; Ewa Kristiansen; Gudmundur Geir Gunnarsson; Thor Stærk Stenvang; Johnny Jakobsen; Morten Kristiansen; Jens Ammitzbøll Glud; Morten Hannemose; Henrik Aanæs; Joakim de Kruijk; Ingolf Sveidahl; Asim Ikram; Henrik Gordon Petersen

doi:10.1017/S0263574720000193

Design of Automated Robotic System for Draping Prepreg Composite Fabrics

Lars-Peter Ellekilde, Jakob Wilm, Ole Wennerberg Nielsen, Christian Krogh, Ewa Kristiansen, Gudmundur Geir Gunnarsson, Thor Stærk Stenvang, Johnny Jakobsen, Morten Kristiansen, Jens Ammitzbøll Glud, Morten Hannemose, Henrik Aanæs, Joakim de Kruijk, Ingolf Sveidahl, Asim Ikram, Henrik Gordon Petersen

Research output: Contribution to journal › Journal article › Research › peer-review

5 Citations (Scopus)

182 Downloads (Pure)

Abstract

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.

Original language	English
Journal	Robotica
Volume	39
Issue number	1
Pages (from-to)	72-87
Number of pages	16
ISSN	0263-5747
DOIs	https://doi.org/10.1017/S0263574720000193
Publication status	Published - 24 Apr 2020

Keywords

Industrial robotics
Composite manufacturing
System development
Automated draping process
KEYWORDS:

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10.1017/S0263574720000193Licence: CC BY 4.0

design_of_automated_robotic_system_for_draping_prepreg_composite_fabricsFinal published version, 6.71 MBLicence: CC BY 4.0

https://www.cambridge.org/core/journals/robotica/article/design-of-automated-robotic-system-for-draping-prepreg-composite-fabrics/4CF8508CBFEA5A5FE799990555CC0FADLicence: CC BY 4.0

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Ellekilde, L-P., Wilm, J., Nielsen, O. W., Krogh, C., Kristiansen, E., Gunnarsson, G. G., Stærk Stenvang, T., Jakobsen, J., Kristiansen, M., Glud, J. A., Hannemose, M., Aanæs, H., de Kruijk, J., Sveidahl, I., Ikram, A., & Petersen, H. G. (2020). Design of Automated Robotic System for Draping Prepreg Composite Fabrics. Robotica, 39(1), 72-87. https://doi.org/10.1017/S0263574720000193

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title = "Design of Automated Robotic System for Draping Prepreg Composite Fabrics",

abstract = "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{\textquoteright}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 robotics, Composite manufacturing, System development, Automated draping process, KEYWORDS:",

author = "Lars-Peter Ellekilde and Jakob Wilm and Nielsen, {Ole Wennerberg} and Christian Krogh and Ewa Kristiansen and Gunnarsson, {Gudmundur Geir} and {St{\ae}rk Stenvang}, Thor and Johnny Jakobsen and Morten Kristiansen and Glud, {Jens Ammitzb{\o}ll} and Morten Hannemose and Henrik Aan{\ae}s and {de Kruijk}, Joakim and Ingolf Sveidahl and Asim Ikram and Petersen, {Henrik Gordon}",

year = "2020",

month = apr,

day = "24",

doi = "10.1017/S0263574720000193",

language = "English",

volume = "39",

pages = "72--87",

journal = "Robotica",

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Ellekilde, L-P, Wilm, J, Nielsen, OW, Krogh, C, Kristiansen, E, Gunnarsson, GG, Stærk Stenvang, T, Jakobsen, J , Kristiansen, M, Glud, JA, Hannemose, M, Aanæs, H, de Kruijk, J, Sveidahl, I, Ikram, A & Petersen, HG 2020, 'Design of Automated Robotic System for Draping Prepreg Composite Fabrics', Robotica, vol. 39, no. 1, pp. 72-87. https://doi.org/10.1017/S0263574720000193

TY - JOUR

T1 - Design of Automated Robotic System for Draping Prepreg Composite Fabrics

AU - Ellekilde, Lars-Peter

AU - Wilm, Jakob

AU - Nielsen, Ole Wennerberg

AU - Krogh, Christian

AU - Kristiansen, Ewa

AU - Gunnarsson, Gudmundur Geir

AU - Stærk Stenvang, Thor

AU - Jakobsen, Johnny

AU - Kristiansen, Morten

AU - Glud, Jens Ammitzbøll

AU - Hannemose, Morten

AU - Aanæs, Henrik

AU - de Kruijk, Joakim

AU - Sveidahl, Ingolf

AU - Ikram, Asim

AU - Petersen, Henrik Gordon

PY - 2020/4/24

Y1 - 2020/4/24

N2 - 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.

AB - 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.

KW - Industrial robotics

KW - Composite manufacturing

KW - System development

KW - Automated draping process

KW - KEYWORDS:

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EP - 87

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JF - Robotica

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Design of Automated Robotic System for Draping Prepreg Composite Fabrics

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An Intelligent Robot-Vision System for Draping Fiber Plies

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Design of Automated Robotic System for Draping Prepreg Composite Fabrics

Abstract

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An Intelligent Robot-Vision System for Draping Fiber Plies

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