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Towards a fully automated process chain for the lay-up of large carbon dry-fibre cut pieces using cooperating robots

Deden, Dominik and Frommel, Christoph and Glück, Roland and Larsen, Lars-Christian and Malecha, Marcin and Schuster, Alfons (2019) Towards a fully automated process chain for the lay-up of large carbon dry-fibre cut pieces using cooperating robots. In: SAMPE Europe 2019. SAMPE Europe Conference 2019, 17.-19.09.2019, Nantes, Frankreich.

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Abstract

At the Center for Lightweight Production Technology (ZLP) a pick and place process using cooperating robots for the draping and handling of large textiles in the production of a rear pressure bulkhead from carbon fibre reinforced plastics (CFRP) has been developed and presented in the past. This work has primarily shown the feasibility of draping and handling large cut-pieces with passively adjustable end-effectors that can reproduce spherical geometries. The process chain developed recently is mirroring a complete industrialized production and incorporates different technologies developed at our facility. Sub-processes include the planning of grip- and drop-points based on the ideal tool geometry, preprocessing of the data, automated adjustment of the grippers, cut piece detection and finally a collision-free path planning system for the robots. The process chain was used for several plies within the production of a full scale demonstrator of a rear pressure bulkhead. This work depicts the current state of the development and shows the results of the full scale application of the process. Opportunities and limitations of the setup for an industrial environment are discussed.

Item URL in elib:https://elib.dlr.de/131491/
Document Type:Conference or Workshop Item (Speech)
Title:Towards a fully automated process chain for the lay-up of large carbon dry-fibre cut pieces using cooperating robots
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Deden, DominikDominik.Deden (at) dlr.dehttps://orcid.org/0000-0001-8959-8720
Frommel, ChristophChristoph.Frommel (at) dlr.dehttps://orcid.org/0000-0002-3717-1087
Glück, RolandRoland.Glueck (at) dlr.deUNSPECIFIED
Larsen, Lars-Christianlars-christian.larsen (at) dlr.dehttps://orcid.org/0000-0002-4450-8581
Malecha, MarcinMarcin.Malecha (at) dlr.deUNSPECIFIED
Schuster, AlfonsAlfons.Schuster (at) dlr.dehttps://orcid.org/0000-0002-7444-366X
Date:September 2019
Journal or Publication Title:SAMPE Europe 2019
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Cooperating robots, automated path planning, ply detection, industrialized process chain
Event Title:SAMPE Europe Conference 2019
Event Location:Nantes, Frankreich
Event Type:international Conference
Event Dates:17.-19.09.2019
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:fixed-wing aircraft
DLR - Research area:Aeronautics
DLR - Program:L AR - Aircraft Research
DLR - Research theme (Project):L - Structures and Materials
Location: Augsburg
Institutes and Institutions:Institute of Structures and Design > Process and Automation
Institute of Structures and Design > Production-Integrated Quality Assurance
Institute of Structures and Design > Flexible Automation Systems
Deposited By: Deden, M.Sc. Dominik
Deposited On:28 Nov 2019 11:54
Last Modified:28 Nov 2019 11:54

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