Development of automated lay-up robot system for jointing process of GRP pipes

Abstract

The joining process for glass reinforced plastic (GRP) pipes is external and internal. Currently, internal and external connections are performed manually, and there are frequent delays in the process, excessive labor costs, and safety problems. An automated process using robots has advantages such as rapid processing, reduction of manpower, and safety. In this study, we developed a pipe root with an automated tape layered machine (ATL) to improve the bonding process inside the GRP pipe. A safety assessment was performed when the load generated during the development of the pipe root and the operation of the robot was applied to the GRP pipe. From the results of the configuration and performance tests of the developed robot, it was shown that the developed robot was sufficiently safe to operate inside the GRP pipe and that the required automation process capability was satisfactory.