elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Automated Handling of Auxiliary Materials using a Multi-Kinematic Gripping System

Vistein, Michael and Faber, Jan and Schmidt-Eisenlohr, Clemens and Reiter, Daniel (2019) Automated Handling of Auxiliary Materials using a Multi-Kinematic Gripping System. In: 29th International Conference on Flexible Automation and Intelligent Manufacturing (FAIM2019). 29th International Conference on Flexible Automation and Intelligent Manufacturing (FAIM2019), 24.-28. Jun 2019, Limerick, Irland. (In Press)

[img] PDF - Registered users only
344kB

Abstract

Using a special, multi-kinematic gripping system, the vacuum bagging process in the manufacturing of carbon-fibre reinforced plastics (CFRP) can be automated. Using the example of a parabolic rear pressure bulkhead, the flexibility of the multi-kinematic system is used to handle largely different sized cut-pieces of auxiliary materials. Avoiding the need for special gripping systems for each part greatly reduces the cost for automation because it allows using a single system for a broad variety of different tasks. With a genetic algorithm for optimization, the high redundancy created by using several robots with each 6 or 7 degrees of freedom can be solved. The overall process is simulated using a 3D visualization environment and therefore can be programmed completely offline before being executed with real robot hardware

Item URL in elib:https://elib.dlr.de/132523/
Document Type:Conference or Workshop Item (Speech)
Title:Automated Handling of Auxiliary Materials using a Multi-Kinematic Gripping System
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Vistein, MichaelMichael.Vistein (at) dlr.dehttps://orcid.org/0000-0001-6998-0017
Faber, Janjan.faber (at) dlr.dehttps://orcid.org/0000-0002-6810-6982
Schmidt-Eisenlohr, ClemensClemens.Schmidt-Eisenlohr (at) dlr.deUNSPECIFIED
Reiter, DanielDaniel.Reiter (at) dlr.deUNSPECIFIED
Date:2019
Journal or Publication Title:29th International Conference on Flexible Automation and Intelligent Manufacturing (FAIM2019)
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:In Press
Keywords:manufacturing; robotics; simulation; composites
Event Title:29th International Conference on Flexible Automation and Intelligent Manufacturing (FAIM2019)
Event Location:Limerick, Irland
Event Type:international Conference
Event Dates:24.-28. Jun 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 > Flexible Automation Systems
Institute of Structures and Design > Process and Automation
Deposited By: Vistein, Dr. Michael
Deposited On:13 Dec 2019 10:14
Last Modified:13 Dec 2019 10:14

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Copyright © 2008-2017 German Aerospace Center (DLR). All rights reserved.