US 11,919,239 B2
Hybrid formation of multi-layer prepreg composite sheet layup
Rishi Malhan, Los Angeles, CA (US); Timotei Centea, Los Angeles, CA (US); Satyandra Gupta, Los Angeles, CA (US); Ariyan Kabir, Los Angeles, CA (US); Brual Shah, Los Angeles, CA (US); and Aniruddha Shembekar, Los Angeles, CA (US)
Assigned to UNIVERSITY OF SOUTHERN CALIFORNIA, Los Angeles, CA (US)
Filed by UNIVERSITY OF SOUTHERN CALIFORNIA, Los Angeles, CA (US)
Filed on Mar. 31, 2023, as Appl. No. 18/129,757.
Application 18/129,757 is a division of application No. 17/260,031, granted, now 11,628,624, previously published as PCT/US2019/045416, filed on Aug. 7, 2019.
Claims priority of provisional application 62/715,497, filed on Aug. 7, 2018.
Prior Publication US 2023/0249409 A1, Aug. 10, 2023
Int. Cl. B29C 64/379 (2017.01); B25J 9/00 (2006.01); B25J 11/00 (2006.01); B29C 64/393 (2017.01); B29C 70/38 (2006.01); B33Y 10/00 (2015.01); B33Y 30/00 (2015.01); B33Y 50/02 (2015.01)
CPC B29C 64/379 (2017.08) [B25J 9/0087 (2013.01); B25J 11/005 (2013.01); B29C 64/393 (2017.08); B29C 70/386 (2013.01); B33Y 10/00 (2014.12); B33Y 30/00 (2014.12); B33Y 50/02 (2014.12)] 9 Claims
OG exemplary drawing
 
1. A robotic system, comprising:
a memory for storing a dataset including start and end point pairs of a mold of a 3D part that defines a layup sequence;
a first robot or a first robot arm that is configured to conform a prepreg layer or sheet onto the mold of the 3D part;
a second robot or a second robot arm that is configured to hold or grasp the prepreg layer or sheet above the mold of the 3D part and stretch or relax the prepreg layer or sheet when the first robot or the first robot arm conforms the prepreg layer or sheet onto the mold; and
one or more processors connected to the first robot or the first robot arm and the second robot or the second robot arm and configured to:
generate a plurality of trajectories based on the layup sequence,
coordinate a plurality of collision free movements for the first robot or the first robot arm with a plurality of collision free movements of the second robot or the second robot arm based on the plurality of trajectories,
cause the first robot or the first robot arm to conform the prepreg layer or sheet onto the mold based on the plurality of collision free movements for the first robot or the first robot arm, and
cause the second robot or the second robot arm to hold, grasp, stretch or relax the prepreg layer or sheet based on the plurality of collision free movements for the second robot or the second robot arm.