The main goal of this process is to wind filament around a robot arm, joining a link piece to a joint piece. This includes incorporating the two parts into one.
To establish function as the primary goal, the requirements for the design were reviewed again. The main function was determined as: Deliver resin-impregnated filament to robot link with integrated joints.
The elements of the design were broken into 3 basic functions: mandrel rotation, payout eye orientation, and payout eye position.
Mandrel rotation is accomplished by the Mandrel-rotation subassembly:
To establish function as the primary goal, the requirements for the design were reviewed again. The main function was determined as: Deliver resin-impregnated filament to robot link with integrated joints.
The elements of the design were broken into 3 basic functions: mandrel rotation, payout eye orientation, and payout eye position.
Mandrel rotation is accomplished by the Mandrel-rotation subassembly:
The mandrel-rotation subassembly consists of two mounts, one with a motor and one with free rotation. Square-profile shafts are inserted into the mandrel at the ends. Before winding takes place, the mounts at each end must be fixed so that the mandrel is fixed in every direction except its rotation.
Payout eye orientation is accomplished by the payout assembly:
The payout assembly is designed to feed the filament from the resin bath to the part on the mandrel, out of any of the machine’s moving parts.
Payout eye positioning is accomplished by the linear assembly:
The three linear actuators in the linear assembly control the positions in the x-, y-, and z-axes. The z- (vertical) axis directly determines the elevation of the payout eye, while the x- and y- positions must be adjusted depending on the yaw-angular position of the payout eye.
The full assembly integrates these components so that all required geometries can be met.
