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Development of an automated adjusting process for robotic end-effectors to handle dry textiles for preforming of carbon fiber reinforced plastics
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Space Technology.
2018 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

In order to fulfill increasing production rates, new automated production technologies are required for manufacturing carbon fiber reinforced plastic components for the aerospace industry. Currently, large, double curved composite components have to be manufactured manually, which leads to high process times and poor scalability. As a consequence, a team of cooperating robots with passively adjustable end-effectors was developed, that is capable of handling dry carbon textiles and can be used for layups in double curved molds. This thesis deals with the implementation of a robot program, that performs an automated adjustment of each end-effector to the surface geometry of the manufactured part. The functional principle and the accuracy of the process are evaluated. Further, the automatically adjusted end-effectors are utilized to cooperatively layup carbon plies. The results show, that the accuracy of the automated adjusting process is sufficient to drape carbon fabrics during pick-up and automated layup is possible with this approach. In conclusion, the developed process can be integrated into a fully automated process for future experiments, but hardware inaccuracies should be improved, in order to further enhance the accuracy of the system.

Place, publisher, year, edition, pages
2018.
Keyword [en]
Robotic end-effectors, carbon fiber reinforced plastics, dry textiles, double curved geometry, automated production, robot programming
National Category
Robotics
Identifiers
URN: urn:nbn:se:ltu:diva-67935OAI: oai:DiVA.org:ltu-67935DiVA, id: diva2:1190457
External cooperation
German Aerospace Center (DLR)
Subject / course
Student thesis, at least 30 credits
Educational program
Space Engineering, master's level (120 credits)
Presentation
2018-02-28, Würzburg, 10:03 (English)
Supervisors
Examiners
Available from: 2018-03-22 Created: 2018-03-14 Last updated: 2018-03-22Bibliographically approved

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CiteExportLink to record
Permanent link

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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
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  • asciidoc
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