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首页> 外文期刊>Production Engineering: Research and Development >Robot-based automation system for the flexible preforming of single-layer cut-outs in composite industry
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Robot-based automation system for the flexible preforming of single-layer cut-outs in composite industry

机译：基于机器人的自动化系统，用于复合材料行业中单层切口的灵活预成型

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摘要

Due to the outstanding material properties the use of carbon fiber reinforced plastics in aerospace applications has grown rapidly during the last years. However, the manual process of creating a preform out of dry cutouts is still very time-consuming and error-prone and thus limits an efficient use of this technology. Especially the high diversity of variants, the material properties and the complexity of the process limited an automation of the preforming process so far. In this paper an automation system is presented, which consists of a robot-based preforming end-effector and its offline path-planning. The end-effector has a highly modular and flexible design and integrates the three essential functions of the preforming process: gripping, draping and heating. Based on a detailed analysis of the geometric parameters of the preforms and its layers the task-specific layout of the end-effector is conducted. To achieve a preform in high-quality a solution for controlling the end-effector and planning the robot-path is necessary. Hence, a semi-automatic approach is developed, which incorporates the know-how of experts and automatically generates layup-curves with path-synchronous trigger signals for the end-effector. In an experimental set up the feasibility and flexibility of the automation solution could be successfully tested. The evaluation on three industrial moulds showed that the challenging requirements and the high quality standards could be met.
机译：由于出色的材料性能，在过去的几年中，碳纤维增强塑料在航空航天应用中的使用迅速增长。但是，由干切口制成瓶坯的手动过程仍然非常耗时且容易出错，因此限制了该技术的有效使用。尤其是变体的高度多样性，材料特性和过程的复杂性限制了迄今为止预成型过程的自动化。本文提出了一种自动化系统，该系统包括一个基于机器人的预成型末端执行器及其离线路径规划。末端执行器具有高度模块化和灵活的设计，并集成了预成型过程的三个基本功能：抓取，悬垂和加热。在对瓶坯及其各层的几何参数进行详细分析的基础上，对末端执行器进行特定任务的布局。为了获得高质量的瓶坯，必须有一种控制末端执行器和规划机械手路径的解决方案。因此，开发了一种半自动方法，该方法结合了专家的专业知识，并自动为末端执行器生成具有路径同步触发信号的叠加曲线。在实验设置中，可以成功测试自动化解决方案的可行性和灵活性。对三种工业模具的评估表明，可以满足具有挑战性的要求和高质量标准。

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