Hybrid Cells for Multi-Layer Prepreg Composite Sheet Layup

摘要

We propose a hybrid human-robot cell for reducing labor in multi-layer prepreg composite sheet layup process. The human expert performs initial experiments to assess the process sequence, and the direction of the layup. The expert knowledge is then transferred to the system in the form of high level commands which are converted into low-level collision free trajectories for the robots in the cell. This paper demonstrates the feasibility of the composite sheet layup using the robotic manipulators along with the design of end-effector tools that are used during the layup process. We give a comparison between manual and hybrid cell for execution times in different steps involved. Finally, we give an overview of process consistency benefits of the hybrid cell.