复合材料学报2024，Vol.41Issue(12) ：6488-6497.DOI:10.13801/j.cnki.fhclxb.20240315.002

碳纤维复合材料壳体预浸带铺放原位成型轨迹规划

Trajectory planning of in-situ fiber placement for carbon fiber composite shells

刘冬 田明 王菲 张承双 包艳玲 张承灏 苏忠民
复合材料学报2024，Vol.41Issue(12) ：6488-6497.DOI:10.13801/j.cnki.fhclxb.20240315.002
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碳纤维复合材料壳体预浸带铺放原位成型轨迹规划

Trajectory planning of in-situ fiber placement for carbon fiber composite shells

刘冬 1田明 2王菲 1张承双 3包艳玲 3张承灏 1苏忠民2
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作者信息

  • 1. 长春理工大学 光电工程学院,长春 130022;长春理工大学 中山研究院,中山 528436
  • 2. 长春理工大学 光电工程学院,长春 130022
  • 3. 西安航天复合材料研究所,西安 710065
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摘要

针对复合材料壳体封头预浸带铺放原位成型过程中多功能铺放头末端滑移问题,开展对碳纤维复合材料铺放机器人轨迹规划的研究.通过构建预浸带铺放路径模型获取铺放角与中心转角,利用中心转角进行动静坐标转换并运用微分几何解算出铺放位姿,通过改进原始蛇优化算法来提高算法收敛速度与精度并应用于铺放机器人逆运动学,逆解铺放位姿获取铺放机器人前七轴关节角度匹配中心转角实现铺放头末端滑移抑制,进行椭球壳体预浸带铺放原位成型仿真与实验.结果表明,预浸带铺放轨迹规划方法在不等极孔壳体预浸带铺放原位成型实验中没有发生滑移与褶皱现象,铺放位姿精度为 10-16;满足预浸带铺放原位成型位姿精度要求,能够应用于实际预浸带铺放原位成型工作.

Abstract

To address slippage issues at the end of a multi-function laying head,a prepreg tape laying trajectory planning method for robot placing carbon fiber composite material was proposed.First,laying angles and center angles were obtained based on a prepreg tape laying path model.A differential geometric solution was applied to transition from dynamic to static coordinates based on the center angle,enabling calculation of the paving pose.Second,the convergence speed and calculation accuracy were enhanced by refining the original snake optimiza-tion algorithm and incorporating it into the inverse kinematics of the laying robot.Inverse kinematics was em-ployed to obtain the joint angles of the front seven axes of the laying robot from the laying pose.Matching the joint angles to the center angles effectively suppressed slippage at the end of the placement head.Finally,simulations and experiments were conducted on in-situ molding of ellipsoid shell tow laying.The results demonstrate no occur-rences of slippage or wrinkles during the in-situ molding experiment involving the laying out of tows for unequal pole hole shells.The laying pose accuracy reaches 10-16,meeting the precision requirements for in-situ molding pose of tow laying,thus making it suitable for practical applications in tow laying in-situ molding work.

关键词

原位成型/复合材料/铺放机器人/逆运动学/改进蛇优化算法

Key words

in-situ molding/composite material/laying robot/inverse kinematic/improved snake optimization algorithm

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出版年

2024
复合材料学报
北京航空航天大学 中国复合材料学会

复合材料学报

CSTPCDCSCD北大核心
影响因子：0.933
ISSN：1000-3851
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