Automated planning for robotic layup of composite prepreg

Malhan, Rishi K.; Shembekar, Aniruddha V.; Kabir, Ariyan M.; Bhatt, Prahar M.; Shah, Brual C.; Zanio, Scott; Nutt, Steven; Gupta, Satyandra K.

doi:10.1016/j.rcim.2020.102020

Cited by 42 publications

(13 citation statements)

References 40 publications

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“…Principle moment of inertia Ix /mm 2 1.25 Principle moment of inertia Iy /mm 2 4.25 Principle moment of inertia Iz /mm 2 15.00 Length Lx /mm 12.00 Width Ly /mm 6.00 Height Lz /mm 1.00 formable object from a single point corresponding to one cuboid. In reality, however, a suction cup gripper should maintain contact with the entire region of cloth directly underneath the suction cups.…”

Section: Model Parameters Valuementioning

confidence: 99%

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A Cooperative Mobile Robot and Manipulator System (Co-MRMS) for Transport and Lay-up of Fibre Plies in Modern Composite Material Manufacture

Yang

Wong

et al. 2021

Preprint

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Composite materials are widely used in industry due to their light weight and specific performance. Currently, composite manufacturing mainly relies on manual labour and individual skills, especially in transport and lay-up processes, which are time-consuming and prone to errors. As part of a preliminary investigation into the feasibility of deploying autonomous robotics for composite manufacturing, this paper investigates a cooperative mobile robot and manipulator system (Co-MRMS) for material transport and composite lay-up, which mainly comprises a mobile robot, a fixed-base manipulator and a machine vision sub-system. In the proposed system, marker-based and Fourier transform-based machine vision approaches are used to achieve high accuracy capability in localisation and fibre orientation detection respectively. Moreover, a particle based approach is adopted to model material deformation during manipulation within robotic simulations. As a case study, a vacuum suction based end-effector model is developed to deal with sagging effects and to quickly evaluate different gripper designs, comprising of an array of multiple suction cups. Comprehensive simulations and physical experiments, conducted with a 6-DOF serial manipulator and a two-wheeled differential drive mobile robot, demonstrate the efficient interaction and high performance of the Co-MRMS for autonomous material transportation, material localisation, fibre orientation detection and grasping of deformable material. Additionally, the experimental results verify that the presented machine vision approach achieves high accuracy in localisation (the root mean square error is 4.04 mm) and fibre orientation detection (the root mean square error is 1.84°).

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Section: Model Parameters Valuementioning

confidence: 99%

“…Due to the interesting properties and high strength-to-weight ratio, the applications of composite materials have raised considerably in the last decades [1,2]. They are usually made of multiple plies of fibres (e.g.…”

Section: Introductionmentioning

confidence: 99%

A Cooperative Mobile Robot and Manipulator System (Co-MRMS) for Transport and Lay-up of Fibre Plies in Modern Composite Material Manufacture

Yang

Wong

et al. 2021

Preprint

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“…Carbon fiber is the main raw material of composite material production. Currently, for low-volume production and complex parts, a hand layup is still the main method, which laminates plies of carbon fiber prepreg (Malhan et al, 2021). The hand layup process is ergonomically challenging and skill-intensive.…”

Section: Introductionmentioning

confidence: 99%

A Framework for Composite Layup Skill Learning and Generalizing Through Teleoperation

Wang

et al. 2022

Front. Neurorobot.

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In this article, an impedance control-based framework for human-robot composite layup skill transfer was developed, and the human-in-the-loop mechanism was investigated to achieve human-robot skill transfer. Although there are some works on human-robot skill transfer, it is still difficult to transfer the manipulation skill to robots through teleoperation efficiently and intuitively. In this article, we developed an impedance-based control architecture of telemanipulation in task space for the human-robot skill transfer through teleoperation. This framework not only achieves human-robot skill transfer but also provides a solution to human-robot collaboration through teleoperation. The variable impedance control system enables the compliant interaction between the robot and the environment, smooth transition between different stages. Dynamic movement primitives based learning from demonstration (LfD) is employed to model the human manipulation skills, and the learned skill can be generalized to different tasks and environments, such as the different shapes of components and different orientations of components. The performance of the proposed approach is evaluated on a 7 DoF Franka Panda through the robot-assisted composite layup on different shapes and orientations of the components.

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“…Various manufacturing processes like hand lay-up technique, 17,18 prepreg process, 19 compression molding technique, 20 and filament winding process 21 are employed for the production of the composite materials. Various methods that includes deep wire drawing, joined pressure-tension, and tension-tension have shown adversities like stresses initiated in the rib.…”

Section: Introductionmentioning

confidence: 99%

Evaluation of tensile properties of fiber metal laminates under different strain rates

Khalid

Arif

Ahmed

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part E:

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There has been an ever-going need for materials containing excellent mechanical properties, lower density, and improved fuel efficiency in the aerospace industry. To date, Fiber Metal Laminates (FMLs) are a prime choice for aerospace applications. The components of aircraft are subjected to various mechanical loadings under operating conditions; therefore, an in-depth understanding of material behavior under expected loading conditions is imperative for the meticulous design and manufacturing of these components. To evaluate the tensile behavior of the FMLs containing Aluminum 7075-T6 sheets as a metallic phase was the primary aim of this study. Furthermore, the manufactured composites were treated with the processes including surface de-greasing, mechanical abrasion, and anodizing. In order to perform mechanical characterization, uniaxial tensile tests were conducted at various strain rates 2×10−4 s−1, 5×10−4 s−1 and 8×10−4 s−1. The FMLs were fabricated through vacuum-assisted resin transfer molding (VARTM) process. The results revealed that FMLs based different combinations of the fiber and metal constituents exhibited a low degree of strain rate-sensitivity. In the case of CARALL, 1.7% increase in tensile strength was observed, and, its tensile strength was increased from 741 MPa to 754 MPa. Whereas, ARALL and GLARE laminates exhibited high degree of strain rate-sensitivity. When the strain rate is increased from 2×10−4 s−1, 5×10−4 s−1 and 8×10−4 s−1 the values are increased in the following patterns: 389 MPa, 411 MPa, and 475 MPa for GLARE laminates, and 253 MPa, 298 MPa 352 MPa for ARALL laminates. Thus, 39% and 22% increase in the tensile strengths were noted for ARALL and GLARE laminates, respectively.

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Automated planning for robotic layup of composite prepreg

Cited by 42 publications

References 40 publications

A Cooperative Mobile Robot and Manipulator System (Co-MRMS) for Transport and Lay-up of Fibre Plies in Modern Composite Material Manufacture

A Cooperative Mobile Robot and Manipulator System (Co-MRMS) for Transport and Lay-up of Fibre Plies in Modern Composite Material Manufacture

A Framework for Composite Layup Skill Learning and Generalizing Through Teleoperation

Evaluation of tensile properties of fiber metal laminates under different strain rates

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