Analysis And Optimization Of Kinematics And Dynamics For Automated Tow Placement Robot

Automated tow placement is an advanced manufacturing technology for composite material parts. It is the application of modern robot technology, computer numerical control technology and CAD/CAM technology to the manufacturing of composite material parts. Tow placement robots are the most important part in automated tow placement systems. In this thesis, the kinematics and dynamics of the robot are analyzed systematically. The following is the main work and results:Based on the definition of Cartesian coordinates fixed on different linkages, the kinematics model of the robot is established with Denavit-Hartenberg method. The position, pose, velocity and acceleration are analyzed in detail and computed with Matlab programs. Depending on the structure of the robot, a convenient method is proposed to solve the inverse kinematics problem, which builds the foundation of real-time control for the robot.The dynamics problem of the robot is analyzed and the explicit solution of dynamics equation is given by Lagrange method that established the foundation of dynamics optimization. The dynamics equation is established by Newton-Euler formula, and the joints'moment is worked out and simulated with Matlab.Finally, by considering principal axis, a 7-DOF tow placement robot is formed. The kinematics and dynamics of the 7-DOF robot are also studied, and an appropriate inverse kinematics method is proposed. Taking kinetic energy as objective function, a dynamic optimization of the redundant robot is given.The above work forms the base of numerical control for the automated tow placement robot.