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

Divya Shah (1) , Jiuchun Gao (2, 1) , Anatol Pashkevich (2, 1, 3) , Stéphane Caro (4, 2, 5) , Benoît Courtemanche (6)

1 IMT Atlantique - DAPI - Département Automatique, Productique et Informatique
2 LS2N - Laboratoire des Sciences du Numérique de Nantes
3 LS2N - équipe ReV - Robotique Et Vivant
4 LS2N - équipe RoMas - Robots and Machines for Manufacturing, Society and Services
5 CNRS - Centre National de la Recherche Scientifique
6 CETIM - CEntre Technique des Industries Mécaniques

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.

Mots clés: Robotic fibre placement; Computer-Aided Design; Optimal motion planning; Collision detection; Robot programming

Domaines: Génie mécanique [physics.class-ph]; Automatique / Robotique

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⟩