In this thesis, we develop a new method for Additive Manufacturing of felt to make three dimensional objects. Felting is a method of intertwining fibers to make a piece of textile. In this work, a 6 DOF UR-5 robotic arm equipped with a 3 DOF tool head to test various approaches to using felting. Due to the novelty of this approach several different control architectures and methodologies are presented. We created felted test samples using a range of processing conditions, and tested them in an Instron machine. Samples were tested parallel to the roving fiber direction and perpendicular to the roving fiber direction. Additionally, two pieces of felt were attached to each other with needling, and these were tested with T-peel tests, pulling both in the direction of the roving fibers and perpendicular to the fibers. We present results for the Young's Modulus and Ultimate Strength of each of these samples. It is anticipated that given the appropriate combination of materials and robotic tooling, this method could be used to make parts for a multitude of applications ranging from custom footwear to advanced composites. / Master of Science / In this paper a new approach to Additive Manufacturing centered on mechanically binding fibers together into a cohesive part is presented. This is accomplished via a robotic system and a process called felting, whereby needles push fibers into each other, entangling them. To validate this approach each system and method was tested individually. We present the results of mechanical tests of a variety of felted samples. Given the results, it is believed that robotic needle felting may be a beneficial method of manufacture for several fields, and it has the potential to easily make customized products.

Yes / The process of generating FMEA following document-centric approach is tedious and susceptible to human error. This paper presents preliminary methodology for robotic manufacturing process modelling in MBSE environment with a scope of automating multiple steps of the modelling process using ontology. This is followed by the reasoning towards automatic generation of process FMEA from the MBSE model. The proposed methodology allows to establish robust and self-synchronising links between process-relevant information, reduce the likelihood of human error, and scale down time expenses.

L’objectif de notre recherche consiste à caractériser le concept de plissage afin de proposer un modèle numérique permettant de concevoir des structures architecturales plissées en panneaux de bois. Dans ce contexte, nous ouvrons une perspective originale sur l’intégration de la dimension morpho-structurale comme facteur de modulation de l’architecture. Nous abordons également le plissage dans sa dimension numérique par une approche paramétrique. Cette dernière permet une modélisation adaptative dans le continuum conception-fabrication. Notre méthode, implémentée dans l’outil CARA(s)PACE (Conception of Architectural Research Algorithm for Structural Pleated Approaches and Creative Envelopes), permet de générer une géométrie de plissage à partir d’une surface de référence. Cet outil est composé d’un modeleur géométrique paramétrique couplé à des moteurs d’évaluation. Il guide le concepteur dans la recherche de formes fondées sur le plissage, sécurise les propositions et fournit les données numériques nécessaires pour une fabrication robotisée / The purpose of this research is to characterise the concept of pleating in order to give a numerical model allowing the design of wooden pleated architectural structures. In this context, we are bringing a singular perspective to the integration of the morpho-structural dimension as a modulating factor of architecture. We also deal with creasing in its digital dimension by adopting a parametric approach which allows an adaptive modelling within the ‘design-manufacturing’ continuum. Our method, implemented in the CARA(s)PACE (Conception of Architectural Research Algorithm for Structural Pleated Approaches and Creative Envelopes) tool, generates a geometry of pleating from a reference surface. This tool is composed of a parametric and geometric modeller coupled with evaluation engines. It guides the designer in the research of forms based on creasing, secures the suggestions and provides the numerical data needed for a robotic manufacturing