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

Divya Shah, Ph.D., Jiuchun Gao, Anatol Pashkevich, Stéphane Caro, Benoît Courtemanche
October, 2017
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Workcell CAD

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.

Type
Conference paper
Publication
DISRUPTIVE INNOVATION IN MECHANICAL ENGINEERING FOR INDUSTRY COMPETITIVENES, Proceedings of the 3rd International Conference on Mechanical Engineering (ICOME 2017)
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computer-aided design kinematic redundancy trajectory planning optimization techniques
Divya Shah, Ph.D.
Divya Shah, Ph.D.
Postdoctoral Reseracher in Robot Design & Development

My research interests include humanoid robots, mechatronics, design & development, mechanism theory, parallel kinematics and additive manufacturing.