Tape winding is a variation on filament winding, in which a single tape is used instead of a bundle of independently tensioned rovings. At K.U. Leuven, a robotic tape winding cell has been developed. Starting from data of the fiber paths, a collision-free off-line robot program is generated. To avoid collisions a heuristic method is used. The method has been validated by winding of a T-piece.
Scholliers, J., & Brussel, H. V. (1996). Design and off-line programming of a robotic tape winding cell. Robotics and Computer-Integrated Manufacturing, 12(1), 93-98. https://doi.org/10.1016/0736-5845(95)00021-6