SUMMARYThis paper presents a novel solution for precision draping of prepreg composite fabrics onto double curved molds. Our contributions relate to system design, including hardware and software components, and to system integration. On the hardware side, design and implementation of a drape tool with up to 120 suction cups positioned individually by linear actuators are described. On the software side, design and implementation of the software architecture are presented, along with necessary algorithms within sensor technologies and mathematical modeling. The essential system’s components were verified individually, and the entire integrated system was successfully validated in the Proof-of-Concept experiments, performed on an experimental physical model of the system.

中文翻译：

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预浸复合织物悬垂自动化机器人系统设计

总结本文提出了一种将预浸料复合织物精确悬垂到双曲面模具上的新解决方案。我们的贡献涉及系统设计，包括硬件和软件组件，以及系统集成。在硬件方面，描述了带有多达 120 个吸盘的悬垂工具的设计和实现，这些吸盘由线性致动器单独定位。在软件方面，介绍了软件架构的设计和实现，以及传感器技术和数学建模中的必要算法。基本系统的组件单独验证，整个集成系统在概念验证实验中成功验证，在系统的实验物理模型上进行。