Sheet1
Sheet1 is a square-shaped sheet positioned within a region characterized by high curvature extending uniformly from the center in all directions across its entire surface.
The automation of composite sheet layup processes is essential to meet the increasing demand for composite materials in various industries. However, expert-crafted plans, typically devised in controlled laboratory conditions, often encounter challenges when implemented in diverse production environments, leading to suboptimal performance.
In this paper, we present a comprehensive framework aimed at refining expert-crafted plans to real-world production settings. Our framework prioritizes the minimization of uncompacted regions while simultaneously improving time-efficiency. To achieve this, we integrate human expertise with data-driven decision-making to refine expert-crafted plans for diverse production environments.
We conduct experiments to validate the effectiveness of our approach, revealing significant reductions in the number of rework paths required compared to initial expert-crafted plans. Through a combination of empirical data analysis, action-effectiveness modeling, and search-based refinement, our system achieves superior time-efficiency in robotic layup operations. Experimental results demonstrate the efficacy of our approach in optimizing the layup process, thereby advancing the state-of-the-art in composite manufacturing automation.
In our process, we employ an internally developed geometry-based planner to craft surface paths for the layup procedure. Our geometry-based planner offers various options to regulate roller interaction on the surface. These paths serve as the foundation for skilled experts to develop intricate plans to ensure optimal material distribution for an accurate layup.
Starting Surface
After Generating Paths
Sheet1 is a square-shaped sheet positioned within a region characterized by high curvature extending uniformly from the center in all directions across its entire surface.
Sheet2 occupies a rectangular shape centered within a region defined by high curvature stretching along both axes which is particularly notable along its longer dimension.
Other relevant work around composite sheet layup automation from our lab: