{"id":{"repo_id":"vt","oai_identifier":"oai:vtechworks.lib.vt.edu:10919/103177"},"canonical_url":"https://search.dev.ndltd.org/etd/vt/oai:vtechworks.lib.vt.edu:10919/103177","repository":{"repo_id":"vt","name":"Virginia Tech","base_url":"https://vtechworks.lib.vt.edu/oai/request"},"display":{"title":"Felted Objects via Robotic Additive Manufacturing","abstract":"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.","abstract_html":"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.","abstract_has_math":false,"creators":["Hardyman, Micah Dwayne"],"institution":"Virginia Tech","degree_name":"Master of Science","degree_level":"masters","degree_discipline":"Mechanical Engineering","degree_department":"Mechanical Engineering","school":null,"contributors":[],"advisors":[],"committee_chairs":["Asbeck, Alan T."],"committee_members":["Williams, Christopher B.","Leonessa, Alexander"],"year":2021,"date_issued":"2021-04-30","date_published":"2021-04-30","updated_at":"2026-07-22T22:18:50Z","subjects":["Felting","Robot","Additive manufacturing","Needle Felting","Robotic Manufacturing"],"languages":[],"rights":["In Copyright"],"rights_urls":["http://rightsstatements.org/vocab/InC/1.0/"],"identifier_entries":[{"key":"dc:identifier.other","label":"Dc Identifier Other","values":["vt_gsexam:29445"],"render_values":[{"text":"vt_gsexam:29445","href":null,"code":true}]}]},"links":{"outbound_url":"http://hdl.handle.net/10919/103177","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.committeechair","label":"Committee Chair","values":["Asbeck, Alan T."]},{"key":"dc:contributor.committeemember","label":"Committee Member","values":["Williams, Christopher B.","Leonessa, Alexander"]},{"key":"dc:contributor.department","label":"Department","values":["Mechanical Engineering"]},{"key":"dc:creator","label":"Author","values":["Hardyman, Micah Dwayne"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2021-05-01T08:00:56Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2021-05-01T08:00:56Z"]},{"key":"dc:date.issued","label":"Date","values":["2021-04-30"]},{"key":"dc:publisher","label":"Institution","values":["Virginia Tech"]},{"key":"dc:type","label":"Dc Type","values":["Thesis"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["masters"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Master of Science"]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["Virginia Polytechnic Institute and State University"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Felting","Robot","Additive manufacturing","Needle Felting","Robotic Manufacturing"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:rights","label":"Dc Rights","values":["In Copyright"]},{"key":"dc:rights.uri","label":"Rights URI","values":["http://rightsstatements.org/vocab/InC/1.0/"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.other","label":"Dc Identifier Other","values":["vt_gsexam:29445"]},{"key":"dc:identifier.uri","label":"Identifier URI","values":["http://hdl.handle.net/10919/103177"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["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."]},{"key":"dc:description.abstractgeneral","label":"General Abstract","values":["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."]},{"key":"dc:description.degree","label":"Dc Description Degree","values":["Master of Science"]},{"key":"dc:format.medium","label":"Dc Format Medium","values":["ETD"]},{"key":"dc:title","label":"Title","values":["Felted Objects via Robotic Additive Manufacturing"]}]}],"canonical_facts":{"dc:contributor.committeechair":["Asbeck, Alan T."],"dc:contributor.committeemember":["Williams, Christopher B.","Leonessa, Alexander"],"dc:contributor.department":["Mechanical Engineering"],"dc:creator":["Hardyman, Micah Dwayne"],"dc:date.accessioned":["2021-05-01T08:00:56Z"],"dc:date.available":["2021-05-01T08:00:56Z"],"dc:date.issued":["2021-04-30"],"dc:description.abstract":["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."],"dc:description.abstractgeneral":["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."],"dc:description.degree":["Master of Science"],"dc:format.medium":["ETD"],"dc:identifier.other":["vt_gsexam:29445"],"dc:identifier.uri":["http://hdl.handle.net/10919/103177"],"dc:publisher":["Virginia Tech"],"dc:rights":["In Copyright"],"dc:rights.uri":["http://rightsstatements.org/vocab/InC/1.0/"],"dc:subject":["Felting","Robot","Additive manufacturing","Needle Felting","Robotic Manufacturing"],"dc:title":["Felted Objects via Robotic Additive Manufacturing"],"dc:type":["Thesis"],"thesis:degree_discipline":["Mechanical Engineering"],"thesis:degree_level":["masters"],"thesis:degree_name":["Master of Science"],"thesis:institution_name":["Virginia Polytechnic Institute and State University"]},"updated_at":"2026-07-22T22:18:50Z"}