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Development of a robot OLP system for the continuous motion control of a mandrel in the radial braiding process

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Abstract

The quality of a braid preform generated by the braiding process is affected by the movement path and speed. Previous studies have obtained an optimal movement path and an efficient speed profile of the mandrel, but no studies have considered robot kinematics for the mandrel’s motion, thereby causing errors occur during the braiding process. This study developed an off-line programming system that generates an optimal mandrel movement path to produce a high-quality preform based on the 3D curvature shape of the mandrel. This movement path is then converted into a robot command. The via-points for the robot path generation were extracted from the mandrel surface geometry. Afterwards, the process of generating a continuous motion and rearranging the via-points for radial braiding was performed. Continuous motion was created by separating the straight and curved paths, and the via-point rearrangement was applied depending on the change in speed.

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Abbreviations

α :

Braid angle

ω :

Angular speed

r m :

Mandrel radius

v :

Moving speed of mandrel

CP :

Cross-section

g :

Center of gravity of the cross-section

P :

Path point

n :

Normal vector

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Acknowledgments

This work was supported by the Autonomous Ship Technology Development Program (20011164, Development of Performance Monitoring and Failure Prediction and Diagnosis Technology for Engine System of Autonomous Ships) funded by the Ministry of Trade, Industry & Energy (MOTIE, Korea).

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Authors and Affiliations

  1. Optimus System Co. Ltd., 13 Heungdeok 1-ro, Giheung-gu, Yongin-si, Gyeonggi-do, Korea

    Jeongho Han

  2. School of Mechanical Engineering, Korea University, 145 Anam-ro, Seongbuk-gu, Seoul, 02841, Korea

    Jinwon Lee

  3. Department of Industrial Engineering, Ajou University, 206 World cup-ro, Yeongtong-gu, Suwon-si, Gyeonggi-do, Korea

    Jeongsam Yang

Authors
  1. Jeongho Han
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  2. Jinwon Lee
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  3. Jeongsam Yang
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Corresponding author

Correspondence to Jeongsam Yang.

Additional information

Jeongho Han is a Senior Engineer at Optimus System, Republic of Korea. He received his Ph.D. in Industrial Engineering from Ajou University in 2019. His research interests include geometric modeling, 3D simulation and virtual reality and augmented reality environment.

Jinwon Lee is a Postdoctoral Researcher in the School of Mechanical Engineering at Korea University, Seoul, Korea. He worked at Texas A&M University (college station, USA). He obtained his Ph.D. in Industrial Engineering in 2019 at Ajou University. His current research interests are neural networks, pattern recognition for industrial data, geometric modeling and virtual reality for engineering applications.

Jeongsam Yang is a Professor in the Department of Industrial Engineering and is leading the CAD Laboratory (http://cadlab.ajou.ac.kr) at Ajou University, Korea. He worked at Carnegie Mellon University (USA) and Clausthal University of Technology (Germany) as a researcher, and the University of Wisconsin-Madison (USA) as a postdoctoral associate. He obtained his Ph.D. in Mechanical Engineering in 2004 at KAIST. His current research interests are geometry modeling, VR application in product design, image pattern analysis, 3D model reconstruction, and computer graphics.

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Han, J., Lee, J. & Yang, J. Development of a robot OLP system for the continuous motion control of a mandrel in the radial braiding process. J Mech Sci Technol 36, 3109–3117 (2022). https://doi.org/10.1007/s12206-022-0542-7

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  • DOI: https://doi.org/10.1007/s12206-022-0542-7

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