A mathematical model for a pneumatically actuated robotic fibre placement system

Abstract

SummaryIn this paper, a lumped parameter model of a robotic fibre placement system consisting of a Motoman SK-120 robot, a force/torque sensor, a pneumatic actuator and a stiff workpiece holder is developed and experimentally verified for the purpose of predicting and characterising the dynamic behaviour of the fibre placement system. Special attention has been given to the dynamics of the actuator which is represented as a mass confined to move between two non-linear springs and dampers. The overall model containing manipulator, force sensor, pneumatic actuator and the workpiece holder dynamics is of the tenth order. Step response experiments were conducted to verify the model and to determine the approximate values of the parameters in the mathematical model. The results prove that the established model is accurate enough to explain the dynamic behaviour of the fibre placement system and it can be employed to quantify the influence of the dynamics of the pneumatic actuator on the constant force-based fibre placement. The well-known fact that the dynamics of the pneumatic actuator varies with the piston position has also been experimentally demonstrated.

Evaluation of robotic fiber placement effect onprocess‐inducedresidual stresses using incrementalhole‐drillingmethod

“…The researchers have applied many techniques to improve the composite manufacturing processes as they significantly affect the characteristics of the final structures. The fabrication processes were improved from the traditional methods that is, hand lay‐up, 1,2 tape placement, 3 and filament winding 4,5 to the state of art techniques such as automated fiber placement (AFP), 6–9 and the resin transfer molding (RTM) 10,11 . The automated manufacturing methods, especially the robotic fiber placement (RFP), were widely applied in many applications due to their advantages such as precise fabrication, reduced labor costs, reproducibility, and the ability to manufacture complex composite parts 12–14 .…”

Predicting and Improving Interlaminar Bonding Uniformity during the Robotic Fiber Steering Process

“…Winding technology and automated placement technology are common technologies for fabricating composite products with low cost [ 5 , 6 , 7 , 8 ]. As a key branch of low-cost composite processing technologies, robotic fiber placement (RFP) technology provides several advantages for the fabrication of composite components with complex surfaces, including real-time process parameter control [ 9 ], low rejection rates and large layup angles [ 10 ].…”