Development of a Handling System with integrated Sensors for Textile Preforms using Additive Manufacturing

摘要

Automation in the production of the fibre-reinforced plastic (FRP) components is projected to increase in the next few years. An example of this is the handling of non crimp fabric (NCF) for producing textile preforms which is one of the process step in the production of wind turbine rotor blades. Handling systems with integrated sensors are needed for a safe, automatic handling process of NCF. The aim of this work is the development of a handling system with a gripper module in which integrated sensors play a major role. The gripper module includes a fan and a flexible fan grill with integrated strain gauges as sensors. The flexible fan grill is produced by additive manufacturing (AM). The AM fused deposition modeling (FDM) technology allows the integration of the sensors which are present inside the flexible fan grill. These sensors detect the gripping force by measuring the bending of the flexible fan grill. By measuring the gripping force the numbers of gripped textile layers can be detected. A micro-controller records the gripping force and controls the fan speed of the gripping module. In order to prove this concept, the gripper module was connected to a six-axis robot and the gripping force applied during the process of gripping was measured. As the number of NCF layers changed, it was possible to measure the corresponding force curves of the gripper. The developed force controlled gripping module can be used for an automated handling control system for producing textile preforms.