Relation between repeatability and speed of robot-based systems for composite aircraft production through multilateration sensor system
2015
Fiber composites are becoming increasingly important in different fields of lightweight application. To guarantee the
estimated demand of components made of carbon fiber reinforced plastics the use of industrial robots is suggested in
production. High velocity of the layup process is addressed to significantly increase the production rate. Today, the layup
of the fiber material is performed by gantry systems. They are heavy weight, slow and the variety of possible part shapes
is limited. Articulated robots offer a huge operational area in relation to their construction size. Moreover, they are flexible
enough to layup fiber material into different shaped molds. Thus, standard articulated robots are less accurate and more
susceptible to vibration than gantry systems. Therefore, this paper illustrates an approach to classify volumetric errors to
obtain a relation between the achievable speed in production and precision. The prediction of a precision at a defined speed
is the result. Based on the measurement results the repeatability of the robotic unit within the workspace is calculated
and presented. At the minimum speed that is applicable in production the repeatability is less than 30 mm. Subsequently,
an online strategy for path error compensation is presented. The approach uses a multilateration system that consists of
four laser tracer units and measures the current absolute position of a reflector mounted at the end-effector of the robot.
By calculating the deviation between the planned and the actual position a compensated motion is applied. The paper
concludes with a discussion for further investigations.
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