Simulation based draping of dry carbon fibre textiles with cooperating robots

Schuster, Alfons; Frommel, Christoph; Deden, Dominik; Brandt, Lars; Eckardt, Mona; Glück, Roland; Larsen, Lars-Christian

doi:10.1016/j.promfg.2020.01.064

Cited by 4 publications

(7 citation statements)

References 9 publications

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“…There, two upright KUKA robots are mounted on two parallel linear axes, allowing them to move from the table (where the flat cut pieces are supplied) to the mold and back. Both of the robots are equipped with identical grippers (called "snake grippers"), which are real existing grippers at the German Aerospace Center in Augsburg, already used in practice as described in [4]; similar configurations of this kind were investigated also, e.g., in [18,19]. These grippers have vacuum suction devices on their bottom, which can grasp carbon fiber textiles and even metal sheets; compare also [20] for an approach how to handle carbon fiber material using such kind of gripping devices.…”

Section: Robot Cell Layoutmentioning

confidence: 99%

“…Another area of research with a long history concerns generating robot programs and control of robots in an automated way based on the layout of a robot cell and CAD data of the tooling. In particular, the work in [4,5] deals with pick and place processes in the production of parts made of carbon-fiber-reinforced polymers (CFRP) in aerospace industry. There, the main approach is always the following one: flat cut pieces (also called plies) of carbon fiber are picked up from a flat table using grippers mounted on robots.…”

Section: Introductionmentioning

confidence: 99%

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A Toolchain for Automated Control and Simulation of Robot Teams in Carbon-Fiber-Reinforced Polymers Production

Körber,

Glück

2024

Applied Sciences

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This paper introduces, as a proof of concept, a tool chain for automated control and simulation of a robot team in the domain of production of carbon-fiber-reinforced polymers. The starting point is a CAD construction of a simple aviation component from which single cut pieces of carbon fiber, together withtheir properties, are extracted. Using this information and the layout of a given robot cell, various possibilities of assignments of cut pieces to grippers and robots or robot teams are determined. Subsequently, two approaches using an PDDL solver are introduced, with the goal of finding a scheduling for the lay-up process. Finally, the resulting process is simulated using a physics and rendering engine. The main purpose of this paper is to show the feasibility of such an approach; we do not concentrate on the optimization of single process steps and other details. Due to the modular structure of our approach, extensions and optimizations of the single blocks are easy to integrate. At the moment, digitization and automated control are little explored areas in the domain of production technology using pick and place processes in the aerospace industry. We think that our work will lead to further research in this direction.

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Section: Robot Cell Layoutmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Toolchain for Automated Control and Simulation of Robot Teams in Carbon-Fiber-Reinforced Polymers Production

Körber,

Glück

2024

Applied Sciences

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“…This survey indicated that it is hard to find generic design principle and the best solution for handling raw materials for composite manufacture depends on the specific case study. Schuster et al [42,43] demonstrated how cooperative robotic manipulators can execute the automated draping process of large composite plies in physical experiments. Similar research has been done by Deden et al, who also addressed the complete handling process from path planning and end-effector design to ply detection [11].…”

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

Int J Adv Manuf Technol

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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 presents a case study that 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∘) and enables dealing with uncertainties such as the shape and size of fibre plies.

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“…This survey indicated that it is hard to find generic design principle and the best solution for handling raw materials for composite manufacture depends on the specific case study. Schuster et al [10,11] demonstrated how cooperative robotic manipulators can execute the automated draping process of large composite plies in physical experiments. Similar research has been done by Deden et al, who also addressed the complete handling process from path planning and end-effector design to ply detection [12].…”

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

View full text Add to dashboard Cite

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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Simulation based draping of dry carbon fibre textiles with cooperating robots

Cited by 4 publications

References 9 publications

A Toolchain for Automated Control and Simulation of Robot Teams in Carbon-Fiber-Reinforced Polymers Production

A Toolchain for Automated Control and Simulation of Robot Teams in Carbon-Fiber-Reinforced Polymers Production

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

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