Hybrid vacuum-robotic forming of reinforced composite laminates

A methodology is presented to implement robotic actuators into diaphragm forming of composite laminates. This Hybrid Vacuum-Robotic (HyVR) process is specifically targeted to prevent ‘bridging’ type defects. Examples are presented of successfully forming laminates with deep concave features that would otherwise be impossible by diaphragm forming. The robotically controlled end effectors apply localised pressure to concave regions during the diaphragm forming process. This force application is analogous to the incremental sheet forming process. A generalised methodology is presented which can be applied to develop a bespoke HyVR process for a specific mould. It can then inform what type of end effector should be used and how to apply it within the HyVR process. A key development included in this methodology is the use of the robot to ‘pin’ the laminate to the mould, preventing any unwanted movement. This process could enable automated production of more complex components using diaphragm forming, taking advantage of its lower tooling and equipment costs.