3D mathematical modelling for robotic pick up of textile composites

An area of interest in the automated manufacture of composite components is the prediction in real-time of the deformed shape of a textile reinforcement in 3D space during robotic handling operations. The deformed shape can be used to guide robotic end-effectors to ensure accurate fabric placement and avoid collisions. In this paper, a nonlinear mathematical model using large deflection plate and shell theories is presented. The model is able to predict the 3D deformed shape of limp sheet materials being picked-up by multi robotic grippers for three boundary conditions. The main factors affecting the deformation behaviour of the sheet during the operation are identified and analysed, and the contributions of different energies during deformation are presented in detail. Good agreement is obtained when comparing the solutions of the model with FE simulation results. This study demonstrates the possibility of developing a modelling capability for material on-line response in automatic flexible material handling.