Liaison-Based Enriched CAD Model Representation for Assembly Tasks

Abstract

The challenges posed by flexible limp fabric material handling within automated manufacturing processes are addressed in this paper. With lightweight materials, particularly fiber composites, gaining prominence across industries, the need for effective and precise fabric placements is deemed crucial. Traditional gripping methods are often found to be lacking in addressing the complexities of fabric draping, necessitating innovative solutions. The deformable, delicate, and complex nature of fabric materials, combined with intricate mold surface geometries, presents significant hurdles for achieving wrinkle-free, accurate placements. To overcome these challenges, a compliant gripper approach is proposed. Associating surface geometry analysis with gripper design, the study aims to enhance the efficiency, precision, and adaptability of fabric placement in automated manufacturing settings. The study exploits the deformable robotic gripper concepts. Compliant mechanisms include variants inspired by the Miura-fold origami approach. The facet-based representation and data processing technique used for a mold's surface allows for associations between the design parameters of the compliant grippers and the mold surface geometry. Design guidelines encompass considerations related to geometry, structural integration, surface friction enhancement, and material selection to provide a baseline framework for the interactive design of compliant grippers. Case studies highlight the merits of the approach for different surface geometries and show the potential for compliant mechanisms being employed in flexible component automation.