Modeling for the sensor based gripping and separation of textile semi-finished productswith vacuum grippers

通过使用轻质材料可以减少交通排放。内燃机和电力驱动概念也受益于这项技术。特别是纤维增强塑料（FRP）是一种很有前途的材料。然而，这也要求这些部件能够大量生产。一种很有前途的生产工艺是所谓的树脂传递成型工艺（RTM）。在RTM流程链中，大量的处理活动是必要的，尤其是在开始阶段。半成品的各个层必须组装成一层，以供进一步的RTM工艺使用。为此，必须从存储堆栈中取出各个层，这需要一系列分离过程。对于自动化过程，重要的是该分离过程以高度的过程可靠性进行。虽然有很多系统用机械原理将不同的层分开，但它们又不是百分之百的可靠，不能检测到故障，因此会干扰自动化过程。因此，需要一个传感器系统，它不仅允许分离过程，而且可以控制结果。这种测量原理是在真空夹持器本身产生的负压，非常适合处理纺织材料。然而，夹持器中的真空不仅取决于层数，还取决于许多其他因素。为了能够在分离过程中使用真空夹持器，需要一个模拟期望值的模型，以便与实测值进行比较。该模型将夹持过程中的各部件分别建模，然后进行耦合。有了这个模型，分离过程将被测试以验证模型本身。此外，结果用于制定规则，如何吸力表面的夹具必须根据纺织品的设计。总之，计划中的调查将有助于更好地了解真空夹持器处理纺织材料的相互关系

The reduction of traffic emission could be achieved by the use of lightweight materials. As well combustion engines as electrical drive concepts benefits from this technology. Especially fiber reinforced plastic (FRP) is a promising material for this kind of application. However, this also requires that such components can be produced in large numbers. A promising production process is the so called resin transfer molding process (RTM).Within the RTM process chain, a large number of handling activities are necessary, especially at the beginning. Individual layers of a semi-finished product have to be assembled to produce a stack of layers for the further RTM process. For this purpose, the individual layers have to be taken out from a storage stack, which requires a series of separation processes. For an automated process, it is important that this separation process is carried out with a high degree of process reliability. Although there are plenty of systems witch separate the different layers with a mechanical principle, but then again they do not have a one hundred percent reliability and could not detect a fault and thereby would interfere with an automated process. Thus, a sensor system is required which not only permits a separation process but also can control the result. Such a measuring principle is the resulting negative pressure in a vacuum gripper itself which is well suited for the handling of textile materials. However the vacuum in the gripper depends not only from the number of layers but also from many other factors. In order to be able to use a vacuum gripper for the separation process a model is required which simulates the expected values so that they can be compared with the measured ones. For this model the components in the gripping process are modeled separately and then coupled. With this model separation processes will be tested witch validate the model itself. In addition, the results are used to formulate rules for how the suction surface of a gripper has to be designed depending on the textile.In summary, the planned investigations will help to get a better understanding of the interrelationships in the handling of textile materials with vacuum grippers