The objective of this SBIR is to design, prototype and validate a Scarfing Tool for Automated Repair of Composites (STARC) system. Phase I will focus on determining the feasibility of such a system. Information will be gathered and documented through interviews with manufacturers of composite parts and commercial and military composite repair personnel. To maximize the probability for viable commercialization, the Scarfing Tool for Automated Repair of Composites system will be a unique combination of already existing technologies. The removal of composite layers is will be achieved through a force based system using a commercially available Adustable Force Device (AFD) from PushCorp, Inc. A force based system eliminates the need for ply thickness dimensional information. required by position based systems. A parallel link Stewart Platform manipulator will provide necessary grinding trajectories. The primary benefits of Stewart Platform manipulators is their high stiffness to weight ratio and their simple modular design. For the STARC, a standard AFD would be mounted on the underside of the movable platform. In this configuration, the platform would meet all the major design goals of providing a substantial work envelope, the required six degrees-of-freedom, and relatively light weight portability without sacrificing rigidity.
Keywords: Composites Repair Scarfing Surface Finishing Force Control Stewart Platform Surface Measurement Robo
