Mechanism Type Synthesis Approach for Automated Handling and Multiaxial Draping of Reinforcing Textiles

Abstract

This contribution is concerned with the first design step for an end-effector used to fully automate the draping and handling process of complex, three-dimensional fibre composite structures with high degrees of deformation and multiaxial curvature. A demonstrator part was specified representing common challenges of draping, e.g., multiaxial complex shape including varying edges and curves of different radii. Analyses of the required draping movements provide information on the motion task and the resulting requirements. Based on that and for the selection of mechanisms for translational motions, a set of criteria is defined and comprehensive evaluation methods are applied. In this context, this contribution employs the outcome of previous systematic type syntheses of translational parallel manipulators. The aim of this contribution is to identify feasible mechanisms to be integrated into the overall system design.