Real time defect detection during composite layup via Tactile Shape Sensing

Abstract In this study an automated composite layup end effector is presented which the first to be able find defects in real time during using tactile shape sensing. Based around existing sensor concept developed by Bristol Robot Laboratory known as ‘TacTip’, a new developed, replacing soft gel core of original was replaced much firmer elastomer, enabling it apply up 400N compaction force. paper shown successfully detect typical such wrinkles, foreign objects, errors or incorrect material types while simultaneously compacting preimpregnated materials over complex mould shapes.