Mathematical Modeling of a Highly Underactuated Tool for Draping Fiber Plies on Double Curved Molds
Gudmundur G. G. Serpina Henrik G. Petersen Gudmundur G. G. Serpina Henrik G. Petersen
In this paper, we present a model based approach for predicting the forward kinematics of a tool for picking prepreg fiber plies from a flat table and draping them onto a double curved mold. The tool consists of suction cups interlinked with springs. The tool has 60 actuated and 240 passive degrees of freedom. The prediction is based on establishing a kinematic model of the total potential energy ...