Computer-Aided Design and Optimization of a Redundant Robotic System for Automated Fiber Placement Process - Archive ouverte HAL Access content directly
Conference Papers Year : 2017

Computer-Aided Design and Optimization of a Redundant Robotic System for Automated Fiber Placement Process

Abstract

This paper proposes a comprehensive methodology for the computer-aided design and optimization of a robotic workcell for the automated fiber placement. The robotic cell, comprising of a 6-axis industrial manipulator and an actuated positioner, is kinematically redundant with respect to the considered task. An efficient optimization technique for managing these kinematic redundancies is proposed. The robot/positioner motion planning and robotic cell layout design in a CAD environment are presented. To confirm validity of the developed methodology, experimental results are presented that deal with automation of thermoplastic fiber placement process.
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Dates and versions

hal-01757796 , version 1 (04-04-2018)

Identifiers

  • HAL Id : hal-01757796 , version 1

Cite

Divya Shah, Jiuchun Gao, Anatol Pashkevich, Stéphane Caro, Benoît Courtemanche. Computer-Aided Design and Optimization of a Redundant Robotic System for Automated Fiber Placement Process. The 3rd International Conference on Mechanical Engineering (ICOME 2017), Oct 2017, Surabaya, Indonesia. ⟨hal-01757796⟩
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