Experimental and numerical investigations on thermoforming of thermoplastic prepregs of glass fiber reinforced nylon 6

•Thermoforming of thermoplastic prepregs is co-simulated using LS-DYNA and Moldex3D.•Steps of charge transfer and tool fast closing is non-ignorable in FE simulation.•Re-orientation of fibers in the central layers in thickness direction of the part is explored.•Tool temperature is of the most significance to warpage and residual stress of part.