{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,13]],"date-time":"2026-02-13T18:44:26Z","timestamp":1771008266516,"version":"3.50.1"},"reference-count":28,"publisher":"Cambridge University Press (CUP)","issue":"1","license":[{"start":{"date-parts":[[2020,4,24]],"date-time":"2020-04-24T00:00:00Z","timestamp":1587686400000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2021,1]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>This paper presents a novel solution for precision draping of prepreg composite fabrics onto double curved molds. Our contributions relate to system design, including hardware and software components, and to system integration. On the hardware side, design and implementation of a drape tool with up to 120 suction cups positioned individually by linear actuators are described. On the software side, design and implementation of the software architecture are presented, along with necessary algorithms within sensor technologies and mathematical modeling. The essential system\u2019s components were verified individually, and the entire integrated system was successfully validated in the Proof-of-Concept experiments, performed on an experimental physical model of the system.<\/jats:p>","DOI":"10.1017\/s0263574720000193","type":"journal-article","created":{"date-parts":[[2020,4,24]],"date-time":"2020-04-24T10:07:08Z","timestamp":1587722828000},"page":"72-87","source":"Crossref","is-referenced-by-count":11,"title":["Design of Automated Robotic System for Draping Prepreg Composite Fabrics"],"prefix":"10.1017","volume":"39","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7550-6960","authenticated-orcid":false,"given":"L.-P.","family":"Ellekilde","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4964-0645","authenticated-orcid":false,"given":"J.","family":"Wilm","sequence":"additional","affiliation":[]},{"given":"O. W.","family":"Nielsen","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4067-0423","authenticated-orcid":false,"given":"C.","family":"Krogh","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1955-6805","authenticated-orcid":false,"given":"E.","family":"Kristiansen","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7655-7954","authenticated-orcid":false,"given":"G. G.","family":"Gunnarsson","sequence":"additional","affiliation":[]},{"given":"T. S.","family":"Stenvang","sequence":"additional","affiliation":[]},{"given":"J.","family":"Jakobsen","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9652-3348","authenticated-orcid":false,"given":"M.","family":"Kristiansen","sequence":"additional","affiliation":[]},{"given":"J. A.","family":"Glud","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9956-9226","authenticated-orcid":false,"given":"M.","family":"Hannemose","sequence":"additional","affiliation":[]},{"given":"H.","family":"Aan\u00e6s","sequence":"additional","affiliation":[]},{"given":"J.","family":"de Kruijk","sequence":"additional","affiliation":[]},{"given":"I.","family":"Sveidahl","sequence":"additional","affiliation":[]},{"given":"A.","family":"Ikram","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0425-170X","authenticated-orcid":false,"given":"H. G.","family":"Petersen","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2020,4,24]]},"reference":[{"key":"S0263574720000193_ref13","unstructured":"13. Campbell, K. , \u201cTsb Affordable Composites Manufacturing - Grand Challenge,\u201d Presentation at ACCIS Annual Conference (2012). http:\/\/www.axillium.com\/i-composites\/sites\/default\/files\/i-Composites%20-%20Picking%20and%20Placing%20of%20Dry%20Fibre.pdf."},{"key":"S0263574720000193_ref16","doi-asserted-by":"publisher","DOI":"10.1145\/2508363.2508406"},{"key":"S0263574720000193_ref2","unstructured":"2. Molfino, R. , Zoppi, M. , Cepolina, F. , Yousef, J. and Cepolina, E. E. , \u201cDesign of a Hyper-Flexible Cell for Handling 3D Carbon Fiber Fabric,\u201d Proceedings of the 2014 International Conference on Theoretical. Mechanics and Applied Mechanics (TMAM\u201914). Venice, Italy, pp. 165\u2013170. https:\/\/pdfs.semanticscholar.org\/da24\/dbc48c622c8037b3188229bed051bf1734f7.pdf."},{"key":"S0263574720000193_ref24","doi-asserted-by":"publisher","DOI":"10.1115\/1.2803258"},{"key":"S0263574720000193_ref28","unstructured":"28. Palfinger, W. , Thumfart, S. and Eitzinger, C. , \u201cPhotometric Stereo on Carbon Fiber Surfaces,\u201d 35th Workshop of the Austrian Association for Pattern Recognition."},{"key":"S0263574720000193_ref9","doi-asserted-by":"publisher","DOI":"10.1109\/CASE.2011.6042411"},{"key":"S0263574720000193_ref27","doi-asserted-by":"publisher","DOI":"10.1117\/12.287750"},{"key":"S0263574720000193_ref15","doi-asserted-by":"publisher","DOI":"10.1002\/nme.1620310712"},{"key":"S0263574720000193_ref22","doi-asserted-by":"publisher","DOI":"10.1088\/0143-0807\/36\/3\/035014"},{"key":"S0263574720000193_ref25","doi-asserted-by":"publisher","DOI":"10.1117\/12.726119"},{"key":"S0263574720000193_ref5","doi-asserted-by":"publisher","DOI":"10.1007\/s13272-016-0184-5"},{"key":"S0263574720000193_ref18","doi-asserted-by":"publisher","DOI":"10.1016\/j.compositesa.2012.10.004"},{"key":"S0263574720000193_ref21","unstructured":"21. Murray, R. M. , Li, Z. and Sastry, S. S. , A Mathematical Introduction to Robotic Manipulation. 1 ed. (CRC Press, 1994). ISBN 9780849379819."},{"key":"S0263574720000193_ref19","doi-asserted-by":"publisher","DOI":"10.1016\/j.compositesa.2008.02.016"},{"key":"S0263574720000193_ref14","unstructured":"14. Quigley, M. , Gerkey, B. , Conley, K. , Faust, J. , Foote, T. , Leibs, J. , Berger, E. , Wheeler, R. and Ng, A. , \u201cRos: An Open-Source Robot Operating System,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) Workshop on Open Source Robotics, Kobe, Japan (2009). https:\/\/pdfs.semanticscholar.org\/d45e\/aee8b2e047306329e5dbfc954e6dd318ca1e.pdf?_ga=2.240291008.2127394806.1587036108-362228064.1578833333."},{"key":"S0263574720000193_ref6","doi-asserted-by":"publisher","DOI":"10.1016\/j.procir.2017.03.370"},{"key":"S0263574720000193_ref10","doi-asserted-by":"publisher","DOI":"10.1007\/s11740-014-0546-y"},{"key":"S0263574720000193_ref11","unstructured":"11. Sterk, S. , \u201cLow Cost Automated Manufacturing of an A320 Slat Fairing,\u201d Proceedings of SAMPE Europe SEICO 2014 - 35th International Technical Conference & Forum, Paris, France."},{"key":"S0263574720000193_ref7","unstructured":"7. Gardiner, G. , \u201cAutomated preforming: Intelligent automation in pick-and-place systems,\u201d CompositesWorld (2017); 10\/22."},{"key":"S0263574720000193_ref23","doi-asserted-by":"publisher","DOI":"10.1017\/S096249290100006X"},{"key":"S0263574720000193_ref1","doi-asserted-by":"publisher","DOI":"10.1016\/j.compositesb.2011.12.003"},{"key":"S0263574720000193_ref3","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2017.12.003"},{"key":"S0263574720000193_ref26","doi-asserted-by":"publisher","DOI":"10.5194\/isprs-archives-XL-5-W8-7-2016"},{"key":"S0263574720000193_ref17","unstructured":"17. Nielsen, O. W. , Schlette, C. and Petersen, H. G. , \u201cFast and Simple Model for Free Hanging, Pre-Impregnated Carbon Fibre Material,\u201d Icinco 2018 (2018) pp. 7\u201314."},{"key":"S0263574720000193_ref12","unstructured":"12. COALESCE. Cost efficient advanced leading edge structure (2009). http:\/\/www.structures.ethz.ch\/research\/computational-structural-mechanics\/COALESCE2.html."},{"key":"S0263574720000193_ref20","doi-asserted-by":"publisher","DOI":"10.1177\/0021998318822722"},{"key":"S0263574720000193_ref8","unstructured":"8. Gardiner, G. , \u201cImproving one-piece aerostructures by automating preforming,\u201d CompositesWorld (2017); 1\/15."},{"key":"S0263574720000193_ref4","doi-asserted-by":"publisher","DOI":"10.1109\/AIM.2007.4412527"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574720000193","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,1,29]],"date-time":"2021-01-29T09:04:16Z","timestamp":1611911056000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574720000193\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,4,24]]},"references-count":28,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2021,1]]}},"alternative-id":["S0263574720000193"],"URL":"https:\/\/doi.org\/10.1017\/s0263574720000193","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,4,24]]}}}