Circular braiding take-up speed generation using inverse kinematics

J.H. van Ravenhorst, Remko Akkerman

Research output: Contribution to journalArticleAcademicpeer-review

30 Citations (Scopus)


Circular overbraiding of composite preforms on complex mandrels currently lacks automatic generation of machine control data. To solve this limitation, an inverse kinematics-based procedure was designed and implemented for circular braiding machines with optional guide rings, resulting in a take-up speed profile for a given braid angle distribution on mandrels with complex 3D shapes including non-axisymmetric, optionally eccentric cross-sections that can vary in shape and size along an optionally curved mandrel centerline, allowing a curved machine movement. This procedure reduces the problem size, resulting in a short computation time, fit for CAE process chain integration. Numerical control data was generated for a complex mandrel with a specified braid angle and a triaxial braid. A simulation using this control data yields a braid angle that deviates a few degrees from the specified braid angle. The simulation was validated experimentally, using the generated instructions to control the braiding machine. This showed a deviation from the simulated braid angle of 3 degrees in the centered, non-tapered mandrel regions, up to 10 degrees in tapered regions and an experimental scatter of 7 degrees. The deviation is mainly attributed to the neglect of yarn interaction and guide ring contact friction in the model, leading to an incorrectly modeled convergence zone length.
Original languageEnglish
Pages (from-to)147-158
JournalComposites Part A: Applied Science and Manufacturing
Publication statusPublished - 2014


  • METIS-309375
  • IR-96570


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