Design of Automated Robotic System for Draping Prepreg Composite Fabrics

L. P. Ellekilde, J. Wilm, O. W. Nielsen, C. Krogh, E. Kristiansen*, G. G. Gunnarsson, T. S. Stenvang, J. Jakobsen, M. Kristiansen, J. A. Glud, M. Hannemose, H. Aanæs, J. De Kruijk, I. Sveidahl, A. Ikram, H. G. Petersen

*Corresponding author for this work

Research output: Contribution to journalJournal articleResearchpeer-review

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SUMMARYThis paper presents a novel solution for precision draping of prepreg composite fabrics onto double curved molds. Our contributions relate to system design, including hardware and software components, and to system integration. On the hardware side, design and implementation of a drape tool with up to 120 suction cups positioned individually by linear actuators are described. On the software side, design and implementation of the software architecture are presented, along with necessary algorithms within sensor technologies and mathematical modeling. The essential system's components were verified individually, and the entire integrated system was successfully validated in the Proof-of-Concept experiments, performed on an experimental physical model of the system.

Original languageEnglish
Number of pages16
Publication statusAccepted/In press - 1 Jan 2021


  • Automated draping process
  • Composite manufacturing
  • Industrial robotics
  • System development

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