SAMPE Journal - July/August 2022 - 15
The stitching end effectors were incorporated
into the ISAAC facility by Electroimpact* (EI)
(Mukilteo, WA) by joining the stitching end
effectors with head plates to create the two
stitching heads compatible with the ISAAC robot
that was developed by EI. In addition, EI provided
robot control programming for the ISAAC system.
To support that programming, CGTech* (Irvine,
CA) provided preprocessor capability for the
stitching heads
in their VERICUT software24
Figure 3. RS566 (double-sided) stitching head.
to enable engineers and technicians to input
stitching path geometry to create the G-code,
the numerical control code used in computercontrolled
manufacturing, for the control system
required to perform the stitching operations
using the ISAAC robot. Initial implementation of
stitching paths in VERICUT was generally limited
to straight-line paths, as were used throughout
recent stitching development in the ERA project.
While VERICUT has the capability to define paths
in space, the ability to operate the stitching heads
along such paths was not present, and necessitated
the development of the logic needed to stitch
general paths in three dimensions. Development
of these 3D paths and their associated G-code
programming requirements are the focus of this
paper, and are presented in the next section.
Figure 4. RS535 (single-sided) stitching head.
STITCHING PATH DEVELOPMENT
When stitching operations are performed at ISAAC,
the AFP head shown in Figure 2 is replaced by a
stitching head. Stitching is performed with the aid
of a support structure for the fabric preform for
double-sided stitching or a " stitch tool " for singlesided
stitching. Either of these is typically attached
to the coupon table. The robot is programmed to
follow stitch paths that are consistent with support
structure or grooves in the stitch tool that provide
space for the needles to pass below the carbon
fabric without touching the stitch tool itself. The
geometry of the support structure or stitch tool is
generally consistent with the desired shape of the
final part. A further discussion of stitch tools is
presented in17
.
a) RS566 (double-sided)
b) RS535 (single-sided)
Figure 5. Stitching patterns for the stitching heads.
www. sampe.org
As mentioned in the previous section, control
for stitching paths during the manufacturing and
installation process for the two stitching heads
using ISAAC was limited to straight-line paths.
This capability was consistent with the stitching
that Boeing conducted during ERA, where paths
consisted of a collection of short, straight-line
stitching paths. Since future stitching activities
are expected to require longer, 3D curved stitching
paths in space, stitching path development
has was conducted to develop these 3D curved
JULY AUGUST 2022
|
SAMPE JOURNAL |
15
http://www.sampe.org
SAMPE Journal - July/August 2022
Table of Contents for the Digital Edition of SAMPE Journal - July/August 2022
Contents
SAMPE Journal - July/August 2022 - Cover1
SAMPE Journal - July/August 2022 - Cover2
SAMPE Journal - July/August 2022 - Contents
SAMPE Journal - July/August 2022 - 2
SAMPE Journal - July/August 2022 - 3
SAMPE Journal - July/August 2022 - 4
SAMPE Journal - July/August 2022 - 5
SAMPE Journal - July/August 2022 - 6
SAMPE Journal - July/August 2022 - 7
SAMPE Journal - July/August 2022 - 8
SAMPE Journal - July/August 2022 - 9
SAMPE Journal - July/August 2022 - 10
SAMPE Journal - July/August 2022 - 11
SAMPE Journal - July/August 2022 - 12
SAMPE Journal - July/August 2022 - 13
SAMPE Journal - July/August 2022 - 14
SAMPE Journal - July/August 2022 - 15
SAMPE Journal - July/August 2022 - 16
SAMPE Journal - July/August 2022 - 17
SAMPE Journal - July/August 2022 - 18
SAMPE Journal - July/August 2022 - 19
SAMPE Journal - July/August 2022 - 20
SAMPE Journal - July/August 2022 - 21
SAMPE Journal - July/August 2022 - 22
SAMPE Journal - July/August 2022 - 23
SAMPE Journal - July/August 2022 - 24
SAMPE Journal - July/August 2022 - 25
SAMPE Journal - July/August 2022 - 26
SAMPE Journal - July/August 2022 - 27
SAMPE Journal - July/August 2022 - 28
SAMPE Journal - July/August 2022 - 29
SAMPE Journal - July/August 2022 - 30
SAMPE Journal - July/August 2022 - 31
SAMPE Journal - July/August 2022 - 32
SAMPE Journal - July/August 2022 - 33
SAMPE Journal - July/August 2022 - 34
SAMPE Journal - July/August 2022 - 35
SAMPE Journal - July/August 2022 - 36
SAMPE Journal - July/August 2022 - 37
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SAMPE Journal - July/August 2022 - 39
SAMPE Journal - July/August 2022 - 40
SAMPE Journal - July/August 2022 - 41
SAMPE Journal - July/August 2022 - 42
SAMPE Journal - July/August 2022 - 43
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SAMPE Journal - July/August 2022 - 45
SAMPE Journal - July/August 2022 - 46
SAMPE Journal - July/August 2022 - 47
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SAMPE Journal - July/August 2022 - 53
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SAMPE Journal - July/August 2022 - 56
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SAMPE Journal - July/August 2022 - Cover3
SAMPE Journal - July/August 2022 - Cover4
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