This paper deals with the design of a cost effective automated tape laying system (ATL system) with integrated uniaxial force control to ensure the necessary compaction forces as well as with an accurate temperature control to guarantee the used tape being melted appropriate. It is crucial to control the substrate and the oncoming tape onto a specific temperature level to ensure an optimal consolidation between the different layers of the product. Therefore, it takes several process steps from the spooled tape on the coil until it is finally tacked onto the desired mold. The different modules are divided into the tape storage spool, a tape-guiding roller, a tape processing unit, a heating zone and the consolidation unit. Moreover, a special robot control concept for testing the ATL system is presented. In contrast to many other systems, with this approach, the tape laying device is spatially fixed and the shape is moved accordingly by the robot, which allows for handling of rather compact and complex shapes. The functionality of the subsystems and the taping process itself was finally approved in experimental results using a carbon fiber reinforced HDPE tape.

翻译：本文设计了一种具有集成单轴力控制功能的低成本自动铺带系统（ATL系统），该系统既能保证必要的压实压力，又通过精确的温度控制确保所用铺带材料充分熔化。控制基底与待铺覆铺带达到特定温度水平对保证产品各层间实现最佳固结至关重要。因此，从卷轴上的带材到最终铺覆至目标模具需要经过多个工艺步骤。系统模块划分为储带卷轴、导带辊、铺带处理单元、加热区及固结单元。此外，本文提出了一种用于测试ATL系统的特殊机器人控制方案。与多数系统不同，本方案将铺带装置空间固定，通过机器人相应移动模具形态，从而能够处理较为紧凑且复杂的几何形状。最后通过碳纤维增强HDPE铺带的实验验证了各子系统功能及铺带工艺的有效性。