Fabrication process of open surfaces by robotic fibre placement

Shirinzadeh, Bijan; Alici, Gürsel; Foong, Chee Wei; Cassidy, Gary

doi:10.1016/s0736-5845(03)00050-4

Cited by 90 publications

(51 citation statements)

References 6 publications

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“…This supports our assumption that the joint stiffness values are constant and do not change with the manipulator configuration. The identified stiffness values have been utilized in evaluating the maximum and minimum limits of the manipulator stiffness for robotic fiber placement [22].…”

Section: B Experimental Setup and Resultsmentioning

confidence: 99%

Enhanced stiffness modeling, identification and characterization for robot manipulators

2005

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Abstract-This paper presents the enhanced stiffness modeling and analysis of robot manipulators, and a methodology for their stiffness identification and characterization. Assuming that the manipulator links are infinitely stiff, the enhanced stiffness model contains: 1) the passive and active stiffness of the joints and 2) the active stiffness created by the change in the manipulator configuration, and by external force vector acting upon the manipulator end point. The stiffness formulation not accounting for the latter is known as conventional stiffness formulation, which is obviously not complete and is valid only when: 1) the manipulator is in an unloaded quasistatic configuration and 2) the manipulator Jacobian matrix is constant throughout the workspace. The experimental system considered in this study is a Motoman SK 120 robot manipulator with a closed-chain mechanism. While the deflection of the manipulator end point under a range of external forces is provided by a high precision laser measurement system, a wrist force/torque sensor measures the external forces. Based on the experimental data and the enhanced stiffness model, the joint stiffness values are first identified. These stiffness values are then used to prove that conventional stiffness modeling is incomplete. Finally, they are employed to characterize stiffness properties of the robot manipulator. It has been found that although the component of the stiffness matrix differentiating the enhanced stiffness model from the conventional one is not always positive definite, the resulting stiffness matrix can still be positive definite. This follows that stability of the stiffness matrix is not influenced by this stiffness component. This study contributes to the previously reported work from the point of view of using the enhanced stiffness model for stiffness identification, verification and characterization, and of new experimental results proving that the conventional stiffness matrix is not complete and is valid under certain assumptions.

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Section: B Experimental Setup and Resultsmentioning

confidence: 99%

Enhanced stiffness modeling, identification and characterization for robot manipulators

2005

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“…Typical diameters, R, vary between 15 and 25 mm. The soft silicone roller has been reported to deflect under the compaction force by up to h ¼ 5 mm [16]. This load-deflection curve is non-linear due to non-linear material behaviour of the silicone rubber and the geometry of the roller.…”

Section: Automated Layupmentioning

confidence: 99%

Through-thickness compression response of uncured prepreg during manufacture by automated layup

Lukaszewicz

Potter

2011

Proceedings of the Institution of Mechanical Engineers, Part B:

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A better understanding of the mechanical properties of prepreg in the uncured state is required to establish process models for automated layup of thermoset prepregs. Such models would enable control of the bulk factor and defects, such as fibre waviness and voidage, during layup. Pressure application time and temperature during automated layup are typically low while the through-thickness strains can be high due to a reduction of gaps between the plies. A viscoelastic analysis for the through-thickness compression response of a toughened carbon/epoxy prepreg is compared against an elastic-plastic material behaviour with respect to automated layup for three representative temperatures. It is shown that a simple plastic material law with strain hardening can be used to accurately model the material response during automated layup of toughened epoxy prepreg. A finite-element model shows good agreement with experimental results.

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“…Adriana W. Blom et al [6] persented the method that can derive the fiber placement path with a variable fiber angle for surface, which optimizes the course locations. Bijan Shirinzadeh et al [7] obtained the fiber placement trajectories by three methods, for example, calculating a series of tag points automatically for complex open surfaces or steering the fiber according to the predefined angle or sensory-based contour following methodology. Li.…”

Section: Introductionmentioning

confidence: 99%

Automated Fiber Placement Approach over Open-contoured Sculptured Surface

Shu-yun¹,

Wen²,

Liu³

et al. 2015

Proceedings of the 5th International Conference on Advanced Design and Manufacturing Engineering

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Abstract. By using the characteristic of tows and the core module surface, also including the demand of fiber placement, a family of wraps as fiber placement reference curves are presented based on equidistant calculation. A new algorithm for fiber placement of open contoured sculptured surface is proposed. Combined with the placement direction and the motion control parameter of the fiber placement head, a series of discrete placement points are obtained by projection using differential geometry theory. This algorithm can be applied in a variety of surface with equation description. The simulation shows that the algorithm is feasible and effective.

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Fabrication process of open surfaces by robotic fibre placement

Cited by 90 publications

References 6 publications

Enhanced stiffness modeling, identification and characterization for robot manipulators

Enhanced stiffness modeling, identification and characterization for robot manipulators

Through-thickness compression response of uncured prepreg during manufacture by automated layup

Automated Fiber Placement Approach over Open-contoured Sculptured Surface

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