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.

中文翻译：

---

通过触觉形状感应实时检测复合材料铺放过程中的缺陷

在这项研究中，提出了一种自动复合材料铺层末端执行器，它是第一个能够在使用触觉形状感应的铺层过程中实时发现缺陷的设备。基于布里斯托机器人实验室开发的现有传感器概念，即“ TacTip”，开发了一种新的末端执行器，用更坚固的弹性体代替了原来传感器的软凝胶芯，使其适用于400N压实力。本文表明，它可以成功检测出典型的缺陷，例如皱纹，异物，铺层错误或材料类型不正确，同时可以将预浸渍的复合材料压实在复杂的模具形状上。