DEVELOPMENTS OF ROBOTIC END-EFFECTORS 3D FABRIC DEFORMATION MODELING IN THE AUTOMATED MANUFACTURE OF COMPOSITE FABRICS AND TAPES

摘要

In automated composite manufacture, the lay-up tasks of composite plies typically consist of ply pick-ups, placement and compaction. This paper contains two sections, one presents a review of research into the hardware and software tools required for automated composite manufacture. Examples of these tools include design tools such as Knowledge Based Engineering (KBE) and pick, place and compaction end-effectors. The second describes a novel 3D fabric deformation model which is used for object collision avoidance and real time end-effectors control.