Modelling Flexible Sheets for Automatic Handling and Lay-up of Composite Components

Abstract

Automating the manufacturing process associated with composite components from prepreg presents new engineering challenges. To design, implement and operate machinery to handle and lay-up prepreg sheet material requires a clear understanding of the processes involved. Manipulation of sheet material is an integral part of the lay-up procedure. This paper presents the main automation issues concerning the production processes and defines a mathematical model for predicting the shape of prepreg sheets for the purposes of manipulation. This provides an aid towards the control of shape during the process of lay-up. Critical mould parameters, which determine prepreg sheet shape, are presented. Lay-up trajectories for a multi-arm robotic system have been derived, utilizing the models formulated. Practical trials with an existing multi-arm robotic system have proved satisfactory control of the process.