Real time defect detection during composite layup via Tactile Shape Sensing
Real time defect detection during composite layup via Tactile Shape Sensing
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DOI：
10.1515/secm-2021-0001
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发表时间：
2019-12
影响因子：
1.9
通讯作者：
M. Elkington;Even Alma;Benjamin Ward-Cherrier;Nicholas Pestell;John Lloyd;C. Ward;N. Lepora
中科院分区：
文献类型：
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作者：
M. Elkington;Even Alma;Benjamin Ward-Cherrier;Nicholas Pestell;John Lloyd;C. Ward;N. Lepora
摘要本文提出了一种自动化复合材料铺层末端执行器，它是第一个能够在铺层过程中使用触觉形状传感在真实的时间内发现缺陷的装置。基于布里斯托机器人实验室开发的称为“TacTip”的现有传感器概念，开发了一种新的末端执行器，用更坚固的弹性体取代了原始传感器的软凝胶芯，使其能够施加高达400 N的压紧力。在本文中，它被证明是成功地检测典型的缺陷，如皱纹，异物，铺层错误或不正确的材料类型，同时压实预浸渍复合材料在复杂的模具形状。
Abstract In this study an automated composite layup end effector is presented which is the first to be able to find defects in real time during layup using tactile shape sensing. Based around an existing sensor concept developed by the Bristol Robot Laboratory known as the ‘TacTip’, a new end effector is developed, replacing the soft gel core of the original sensor was replaced by a much firmer elastomer, enabling it to apply up to 400N of compaction force. In this paper it is shown to successfully detect typical defects such as wrinkles, foreign objects, layup errors or incorrect material types while simultaneously compacting preimpregnated composite materials over complex mould shapes.