Abstract: A method for determining a program of displacement and orientation of a needling head for making a textile preform by needling a textile strip on a support tooling, includes determining a set of triplets of coordinates of the points of passage of the needling head as a function of the positions of the fibers along the Z axis in the textile preform to be made, of its local geometry and of a predetermined minimum distance to be met between the needling head and the support tooling or the preform making it possible to avoid a collision with the latter, and determining the angular orientation of the needling head for each point of passage as a function of the angular orientation of the textile strip and of the Z fibers in the textile preform to be made, and determining a local speed of displacement of the needling head.

Abstract: A needling system for making a textile preform includes a needling head; a robotic arm movable in several degrees of freedom, carrying the needling head and configured so as to move the needling head following predetermined trajectories and orientations; a textile strip feeding device mounted on the needling head and configured to deposit the textile strip on a support and cut it, and a monitoring unit configured to control the robotic arm, the actuation of the needling head and the deposition of the textile strip according to a predefined program for making the textile preform.

Abstract: A needling system for making a textile preform includes a needling head; a robotic arm movable in several degrees of freedom, carrying the needling head and configured so as to move the needling head following predetermined trajectories and orientations; a textile strip feeding device mounted on the needling head and configured to deposit the textile strip on a support and cut it, and a monitoring unit configured to control the robotic arm, the actuation of the needling head and the deposition of the textile strip according to a predefined program for making the textile preform.

Abstract: A process for removing webs formed on a wall of a central channel of a propellant charge, the process including removing webs by levelling the wall of the central channel of the propellant charge with a levelling tool installed on an articulated robotic arm during which the movements of the robot arm are controlled by a user interface which includes a controller configured to be used by a user; a force sensor measures the force applied by the levelling tool; a control unit connected to the force sensor regulates the movements of the robot arm by maintaining the force applied by the levelling tool below a first predetermined force threshold, the control unit also regulating the movements of the robot arm by maintaining a movement speed of the levelling tool which is below a predetermined speed threshold value.

Abstract: A process for removing webs formed on a wall of a central channel of a propellant charge, the process including removing webs by levelling the wall of the central channel of the propellant charge with a levelling tool installed on an articulated robotic arm during which the movements of the robot arm are controlled by a user interface which includes a controller configured to be used by a user; a force sensor measures the force applied by the levelling tool; a control unit connected to the force sensor regulates the movements of the robot arm by maintaining the force applied by the levelling tool below a first predetermined force threshold, the control unit also regulating the movements of the robot arm by maintaining a movement speed of the levelling tool which is below a predetermined speed threshold value.