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Modeling and Workspace Analysis of Collaborative Advanced Fiber Placement Machine

[+] Author Affiliations
Xiaoming Zhang, Wen-Fang Xie, Suong V. Hoa

Concordia University, Montreal, QC, Canada

Paper No. IMECE2014-38553, pp. V04AT04A032; 10 pages
  • ASME 2014 International Mechanical Engineering Congress and Exposition
  • Volume 4A: Dynamics, Vibration, and Control
  • Montreal, Quebec, Canada, November 14–20, 2014
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-4647-6
  • Copyright © 2014 by ASME


The Advanced Fiber Placement (AFP) machines have brought significant improvement on the manufacturing of composite. However, the current AFP machines are not capable of handling some applications with more complex shapes. This paper presents a collaborative AFP machine which consists of a 6-RSS parallel platform, a 6-DOF manipulator and a spindle mounted on the platform to hold the mandrel. The collaborative modeling is built and simulated in SimMechanics/Matlab. The inverse kinematic models are established for trajectory planning. In addition, the workspaces of both parallel robot and collaborative AFP machine are analyzed using geometrical method and programmed in Solidworks. A simulation example for the manufacturing of a hemisphere is provided. The result shows that the collaborative AFP machine could enlarge the manufacture workspace, simplify the trajectory planning and enhance the productive efficiency.

Copyright © 2014 by ASME
Topics: Machinery , Fibers , Modeling



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