Computer-aided design and optimization of a redundant robotic system for automated fiber placement process - Archive ouverte HAL Access content directly
Conference Papers Year : 2018

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.
Fichier principal
Vignette du fichier
ICOME2017_Shah_Gao_Pashkevich_Caro_Courtemanche_HAL.pdf (983.22 Ko) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

hal-01980737 , version 1 (14-01-2019)

Identifiers

Cite

Divia Shah, Jiuchun Gao, Anatol Pashkevich, Stéphane Caro, Benoit Courtemanche. Computer-aided design and optimization of a redundant robotic system for automated fiber placement process. AIP Conference Proceedings, Jul 2018, Surabaya, Indonesia. ⟨10.1063/1.5046258⟩. ⟨hal-01980737⟩
52 View
100 Download

Altmetric

Share

Gmail Facebook X LinkedIn More