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SYSTEM CONCEPT FOR HUMAN-ROBOT COLLABORATIVE DRAPING

Eitzinger, Chrisitan and Frommel, Christoph and Ghidoni, Stefano and Villagrossi, Enrico (2021) SYSTEM CONCEPT FOR HUMAN-ROBOT COLLABORATIVE DRAPING. SAMPE Europe Conference 2021, 29-30 Sep. 2021, Baden/Zürich-Switzerland.

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Abstract

Draping is a technically complicated process as it involves the placing of a flat piece of carbon fiber fabric in a 3D mold, without creating wrinkles, maintaining an accurate position and ensuring correct fiber orientation. Currently, this process is eitherdone fully manually or in simpler cases fully automatically through robots or application-specific handling devices. In this paper a system concept is proposed that allows human-robot collaborative draping. Based on typical use cases from the aerospace, boat-building and automotive industry variousinteraction modesare identified, including the joint transport of large patches of material, the placing of the material and the draping of areas of low and high curvature. The analysis is presented in the form of a prototypical robotic work-cell including the sensor systems as well as the real-time software architecture to allow a smooth and efficient interaction between the human and the robot.

Item URL in elib:https://elib.dlr.de/145307/
Document Type:Conference or Workshop Item (Speech)
Title:SYSTEM CONCEPT FOR HUMAN-ROBOT COLLABORATIVE DRAPING
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Eitzinger, ChrisitanProfactorUNSPECIFIED
Frommel, ChristophChristoph.Frommel (at) dlr.dehttps://orcid.org/0000-0002-3717-1087
Ghidoni, StefanoDEI - Uninversity of PadovaUNSPECIFIED
Villagrossi, EnricoCNR-STIIMAUNSPECIFIED
Date:September 2021
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Human collaborative draping
Event Title:SAMPE Europe Conference 2021
Event Location:Baden/Zürich-Switzerland
Event Type:international Conference
Event Dates:29-30 Sep. 2021
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:Components and Systems
DLR - Research area:Aeronautics
DLR - Program:L CS - Components and Systems
DLR - Research theme (Project):L - Structural Materials and Design
Location: Augsburg
Institutes and Institutions:Institute of Structures and Design > Automation and Production Technology
Deposited By: Frommel, Christoph
Deposited On:09 Nov 2021 13:49
Last Modified:09 Nov 2021 13:49

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