Unique Non-Orthogonal TCP Intersecting AFP Axes Design

Paper #:
  • 2012-01-1862

Published:
  • 2012-09-10
Citation:
Faubion, G. and Rudberg, T., "Unique Non-Orthogonal TCP Intersecting AFP Axes Design," SAE Int. J. Aerosp. 5(1):39-48, 2012, https://doi.org/10.4271/2012-01-1862.
Pages:
10
Abstract:
Automated Fiber Placement (AFP) machines typically consist of 3 linear and 3 rotary axes of motion in order to manufacture complex shapes. These axes are generally orthogonal and semi-coupled. In these designs, a linear axis move will not affect the rotary axes orientation whereas a rotary axis move will affect the Tool Center Point (TCP) location with respect to the linear axes position. The wide range of motion required to maintain the compaction-axis normality needed for carbon fiber layup tends to prevent all of the rotational axes from passing through the TCP. The location and arrangement of these rotational axes has a great effect on the AFP machine performance and controllability during high speed layup. This paper presents a unique kinematic AFP axes design consisting of replacing the 3 orthogonal rotary axes with 3 tool-center-point-intersecting coupled-axes which decouple the linear axes from the rotary axes.
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