Abstract: In order to produce multilayer structures of composite materials by draping recut elementary layers on a shaping mold, an installation is proposed which comprises, apart from the mold, a gripping tool which can e.g. be fitted on the articulated arm of a robot. The shaping mold comprises a flexible membrane equipped with suction cups ensuring the gripping of the elementary precut layers. A vacuum circuit makes it possible to engage the membrane on a countermold placed behind the latter in order to shape the grasped elementary layer. When the tool is brought onto the mold, a pressure source acts on the membrane in order to compact the elementary later on the mold. A suction system keeps the layer on the mold following the release of the suction by the cups.

Abstract: An apparatus for supporting a machining tool on a robot arm is disclosed having first and second support members with the second support member attached to the first support member by torsion bar elements so as to be movable with respect to the first member about an axis in a single degree of freedom. The first support member is attached to the end of the robot arm and the machining tool is attached to the second support member.The torsion bar element interconnecting the first and second support members has end portions larger than a connecting portion extending between them. One end portion is fixedly attached to one of the support members and the other end portion is fixedly attached to the other support member. The torsion bar elements are generally cylindrical in configuration and are dimensioned such that the diameters of the end portions are between seven and ten times the diameter of the connecting portion.

Abstract: An apparatus for supporting a machining tool on a robot arm is disclosed having first and second support members with the second support member attached to the first support member by torsion bar elements so as to be movable with respect to the first member about an axis in a single degree of freedom. The first support member is attached to the end of the robot arm and the machining tool is attached to the second support member.The torsion bar element interconnecting the first and second support members has end portions larger than a connecting portion extending between them. One end portion is fixedly attached to one of the support members and the other end portion is fixedly attached to the other support member. The torsion bar elements are generally cylindrical in configuration and are dimensioned such that the diameters of the end portions are between seven and ten times the diameter of the connecting portion.