Apparatus, system and method for applying composite layups
An apparatus includes a support platform and a plurality of passive actuators coupled to the support platform. Each one of the plurality of passive actuators includes a shaft. The shaft includes a first shaft end and a second shaft end, opposite the first shaft end. Each one of the plurality of passive actuators includes a gripper coupled to the second shaft end. The shaft is freely movable relative to the support platform in a first direction along an axis of linear shaft movement. Movement of the shaft relative to the support platform in a second direction, opposite the first direction, along the axis of linear shaft movement is automatically inhibited.
1. An apparatus for applying a composite layup, the apparatus comprising:
a support platform;
a passive actuator comprising:
a housing coupled to the support platform;
a tubular collar situated in the housing;
a shaft extending through the collar and comprising a first shaft end and a second shaft end, opposite the first shaft end;
a gripper coupled to the second shaft end,
wherein:
the shaft is freely movable relative to the collar in a first direction along an axis of linear shaft movement; and
movement of the shaft relative to the collar in the first direction automatically locks the collar to the shaft such that movement of the shaft relative to the collar in a second direction, opposite the first direction, along the axis of linear shaft movement is inhibited.
2. The apparatus of claim 1 , wherein movement of the shaft in the second direction is selectively enabled.
3. The apparatus of claim 1 , wherein the collar selectively releases the shaft to enable linear movement of the shaft in the second direction.
4. The apparatus of claim 1 , wherein
the support platform comprises:
a frame; and
a rail coupled to the frame;
the housing of the passive actuator is coupled to the rail; and
the housing of the passive actuator is linearly movable relative to the rail along an axis of linear housing movement that extends along the rail.
5. The apparatus of claim 1 , wherein:
the support platform comprises:
a frame; and
a plate assembly coupled to the frame and comprising a plate opening; and
a portion of the housing of the passive actuator is situated in the plate opening.
6. The apparatus of claim 5 , wherein the housing of the passive actuator is linearly movable in the plate opening and relative to the plate assembly in at least one direction that is parallel to a plane that extends through the plate opening.
7. The apparatus of claim 5 , wherein the housing of the passive actuator is biased to a center position within the plate opening.
8. The apparatus of claim 5 , wherein the housing of the passive actuator comprises an annular tapered surface that is situated in and that centers the housing in the plate opening.
9. The apparatus of claim 1 , wherein the shaft is biased in the second direction along the axis of linear shaft movement.
10. The apparatus of claim 1 , wherein:
the collar comprises:
a tubular collar body coupled to the housing; and
a tubular collar lock coupled to the collar body;
the shaft extends though the collar body and the collar lock;
the collar lock is movable along the axis of linear shaft movement relative to the collar body between an unlocked position, in which the collar lock is disengaged from the shaft to permit movement of the shaft in the second direction, and a locked position, in which the collar lock is engaged with the shaft to inhibit movement of the shaft in the second direction; and
movement of the shaft in the first direction moves the collar lock to the locked position.
11. The apparatus of claim 1 , wherein the passive actuator further comprises a spring coupled to the shaft and to the housing such that the spring biases the second shaft end in the second direction along the axis of linear shaft movement.
12. A passive actuator comprising:
a housing;
a tubular collar coupled to the housing;
a shaft extending through the collar; and
a gripper coupled to the shaft,
wherein:
the collar automatically locks in response to linear movement of the shaft in a first direction along an axis of linear shaft movement;
with the collar locked, the collar enables further linear movement of the shaft in the first direction and inhibits linear movement of the shaft in a second direction, opposite the first direction, along the axis of linear shaft movement; and
the collar is selectively unlockable to enable linear movement of the shaft in the second direction.
13. A system for applying a composite layup, the system comprising:
a tool comprising a tool surface;
a support platform that is positionable relative to the tool surface; and
a plurality of passive actuators, wherein each one of the plurality of passive actuators comprises:
a housing coupled to the support platform;
a tubular collar situated in the housing;
a shaft extending through the collar and comprising a first shaft end and a second shaft end, opposite the first shaft end; and
a gripper coupled to the second shaft end,
wherein:
the shaft of at least one of the plurality of passive actuators is freely movable relative to the collar of the at least one of the plurality of passive actuators in a first direction along an axis of linear shaft movement in response to engagement of the gripper of the at least one of the plurality of passive actuators with the tool surface; and
movement of the shaft of the at least one of the plurality of passive actuators relative to the collar of the at least one of the plurality of passive actuators in the first direction automatically locks the collar of the at least one of the plurality of passive actuators to the shaft of the at least one of the plurality of passive actuators such that movement of the shaft of the at least one of the plurality of passive actuators relative to the collar in a second direction, opposite the first direction, along the axis of linear shaft movement is inhibited.
14. The system of claim 13 , wherein movement of the shaft in the second direction is selectively enabled.
15. The system of claim 13 , wherein:
the tool surface comprises a first tool-surface portion and a second tool-surface portion; and
the second tool-surface portion is noncoplanar with the first tool-surface portion.
16. The system of claim 13 , wherein:
the support platform comprises a plate comprising a plurality of plate openings; and
a portion of the housing of each one of the plurality of passive actuators is situated in a corresponding one of the plurality of plate openings; and
the housing of at least one of the plurality of passive actuators is linearly movable in a corresponding one of the plurality of plate openings and relative to the plate in at least one direction that is parallel to a plane that extends through the corresponding one of the plurality of plate openings.
17. The system of claim 16 , wherein the housing of at least one of the plurality of passive actuators is biased to a center position within a corresponding one of the plurality of plate openings.
18. A method for applying a composite layup, the method comprising steps of:
holding a composite sheet over a layup surface using a plurality of passive actuators, wherein:
each one of the a plurality of passive actuators comprises:
a housing coupled to a support platform;
a tubular collar coupled to the housing;
a shaft extending through the collar; and
a gripper coupled to the shaft;
the shaft of at least one of the plurality of passive actuators is freely movable relative to the collar of at least one of the plurality of passive actuators in a first direction along an axis of linear shaft movement;
movement of the shaft of the at least one of the plurality of passive actuators relative to the collar of the at least one of the plurality of passive actuators in the first direction automatically locks the collar of the at least one of the plurality of passive actuators to the shaft of the at least one of the plurality of passive actuators such that movement of the shaft of the at least one of the plurality of passive actuators relative to the collar of the at least one of the plurality of passive actuators in a second direction, opposite the first direction, along the axis of linear shaft movement is inhibited; and
the layup surface comprises:
a first layup-surface portion; and
a second layup-surface portion that is noncoplanar with the first layup-surface portion;
placing a first sheet portion of the composite sheet against the first layup-surface portion of the layup surface;
passively retracting the shaft of a first portion of the plurality of passive actuators in the first direction relative to the collar of the first portion of the plurality of passive actuators in response to engagement of the first sheet portion with the first layup-surface portion;
placing a second sheet portion of the composite sheet against the second layup-surface portion of the layup surface; and
passively retracting the shaft of a second portion of the plurality of passive actuators in the first direction relative to the collar of the second portion of the plurality of passive actuators in response to engagement of the second sheet portion with the second layup-surface portion.
19. The method of claim 18 , further comprising:
biasing the first portion of the plurality of passive actuators against the first layup-surface portion of the layup surface; and
biasing the second portion of the plurality of passive actuators against the second layup-surface portion of the layup surface.
20. The method of claim 18 , further comprising locking the shaft relative to the collar of the first portion of the plurality of passive actuators to prevent extension of the shaft of the first portion of the plurality of passive actuators.
21. The method of claim 20 , further comprising locking the shaft relative to the collar of the second portion of the plurality of passive actuators to prevent extension of the shaft of the second portion of the plurality of passive actuators.
22. A method for shaping a composite layup, the method comprising steps of:
holding a composite sheet over a layup surface using a plurality of passive actuators, wherein each one of the plurality of passive actuators comprises a housing coupled to a support platform, a tubular collar coupled to the housing, a shaft extending through the collar, and a gripper coupled to the shaft, wherein the shaft of at least one of the plurality of passive actuators is freely movable relative to the collar of the at least one of the plurality of passive actuators in a first direction along an axis of linear shaft movement and movement of the shaft of the at least one of the plurality of passive actuators relative to the collar of the at least one of the plurality of passive actuators in the first direction automatically locks the collar of the at least one of the plurality of passive actuators to the shaft of the at least one of the plurality of passive actuators such that movement of the shaft of the at least one of the plurality of passive actuators relative to the collar of the at least one of the plurality of passive actuators in a second direction, opposite the first direction, along the axis of linear shaft movement is inhibited;
moving the plurality of passive actuators and the layup surface toward each other; and
shaping the composite sheet against the layup surface in response to passive retraction of the shaft of the at least one of the plurality of passive actuators relative to the collar of the at least one of the plurality of passive actuators from an extended length to a retracted length.
23. The method of claim 22 , wherein:
the layup surface comprises a first layup-surface portion; and
the step of shaping the composite sheet against the layup surface comprises shaping a first sheet portion of the composite sheet against the first layup-surface portion of the layup surface in response to passive retraction of at least a first one of the plurality of passive actuators from the extended length to a first retracted length.
24. The method of claim 23 , wherein:
the layup surface further comprises a second layup-surface portion that is noncoplanar with the first layup-surface portion; and
the step of shaping the composite sheet against the layup surface further comprises shaping a second sheet portion of the composite sheet against the second layup-surface portion of the layup surface in response to passive retraction of at least a second one of the plurality of passive actuators from the extended length to a second retracted length and passive retraction of at least the first one of the plurality of passive actuators from the first retracted length to a third retracted length.