Abstract: An end of arm tool (EOAT) for use during manufacture of parts using one or more pre-impregnated composite plies is disclosed. In an embodiment, the EOAT includes a mechanical gripper arrangement with first and second fingers configured to supply a compressive force to grip a pre-impregnated composite ply therebetween. At least one of the first and second fingers include a roller member to engage opposite surfaces of the pre-preg ply and supply a compressive gripping force. The roller member on either or both the first and second fingers preferably include a torque regulator to selectively adjust an associated roller member's resistance to rotation via supply of a rotational torque resistance.

Abstract: An end of arm tool (EOAT) for use during manufacture of parts using one or more pre-impregnated composite plies is disclosed. In an embodiment, the EOAT includes a mechanical gripper arrangement with first and second fingers configured to supply a compressive force to grip a pre-impregnated composite ply therebetween. At least one of the first and second fingers include a roller member to engage opposite surfaces of the pre-preg ply and supply a compressive gripping force. The roller member on either or both the first and second fingers preferably include a torque regulator to selectively adjust an associated roller member's resistance to rotation via supply of a rotational torque resistance.

Abstract: A system and method for printing an image on a surface using a printing robot, wherein data from an internal position determination system of the robot as well as data from a reference system comprising a stationary reference external to the robot are used to calculate an estimate of position, velocity and acceleration of the print head relative to the surface. As print head is moved along the surface during printing, i.e. as the print head is moved while ink is ejected from nozzles of the print head, the positioning of the print head and activation of nozzles of the print head are controlled based on the estimate.

Abstract: A method and system for printing an image on a 3D surface is provided, wherein a printing robot is controlled to first carry out an encoder pattern capture run. During this run a print head of the robot is controlled to track an encoder pattern, which may be slightly distorted, on the 3D surface while inertial data from an inertial data measurement unit that is fixed to the print head is stored together with orientational and positional data derived from an image captured of a portion of the encoder pattern that is captured by a camera mounted on the printing head. Next, during a printing run, the print head is controlled such that the camera tracks the encoder pattern for a second time, while printing by the print head and/or a position of the print head is adjusted based on the inertial and orientational and positional data that were stored during the encoder pattern capture run.

Abstract: The invention relates to a printing device for printing large countoured three-dimensional objects. The printing device comprises a movable robot arm mounted on a movable support, a printhead supported at a printing end of the robot arm, the print head comprising a plurality of nozzles, an ink reservoir connected to the nozzles of the print head and to a pump device for supplying ink from the reservoir to the nozzles, and a controller for moving the print head along a printing trajectory while changing the orientation of the printhead.

Abstract: A system and method for printing an image on a surface using a printing robot, wherein data from an internal position determination system of the robot as well as data from a reference system comprising a stationary reference external to the robot are used to calculate an estimate of position, velocity and acceleration of the print head relative to the surface. As print head is moved along the surface during printing, i.e. as the print head is moved while ink is ejected from nozzles of the print head, the positioning of the print head and activation of nozzles of the print head are controlled based on the estimate.

Abstract: A method and system for printing an image on a 3D surface is provided, wherein a printing robot is controlled to first carry out an encoder pattern capture run. During this run a print head of the robot is controlled to track an encoder pattern, which may be slightly distorted, on the 3D surface while inertial data from an inertial data measurement unit that is fixed to the print head is stored together with orientational and positional data derived from an image captured of a portion of the encoder pattern that is captured by a camera mounted on the printing head. Next, during a printing run, the print head is controlled such that the camera tracks the encoder pattern for a second time, while printing by the print head and/or a position of the print head is adjusted based on the inertial and orientational and positional data that were stored during the encoder pattern capture run.

Abstract: The invention relates to a printing device for printing large countoured three-dimensional objects. The printing device comprises a movable robot arm mounted on a movable support, a printhead supported at a printing end of the robot arm, the print head comprising a plurality of nozzles, an ink reservoir connected to the nozzles of the print head and to a pump device for supplying ink from the reservoir to the nozzles, and a controller for moving the print head along a printing trajectory while changing the orientation of the printhead.