Research On Fiber Placement Manipulator Motion Trajectory Control

It is discussed the great curvature component's compound materials fiber placement formation technology in detail in this article. Based on the existed research of the component's structure,fiber placement craft and design of fiber placement layer,In view of the characteristic of component profile's great curvature,great,the big length and the variable cross-section, using the structural of six-axis manipulators with revolving principal axis and multi-channel fiber placement craft to solve the proplem of the variable cross-section, the great length as well as profile complex is proposed by this article. Because of the component's great volume, there is complex placement path and big data quantity needed to be processed,the method of iteration to calculate the fiber placement points of intersection of45°the auxiliary plane and the division curve one by one is proposed by this article, and then the fiber placement path is obtainsed by fitsed various fiber placement points through three spline curves. One kind of effective and feasible algorithm of cutting silks is proposed, and they are integrated with the silk cutting information so as to use the superiority of the CAD technology to forcus the proplem of complex motion control on all the fiber placement points in the process, these information will be memoried and transferred centralism to avoids the discussion of fiber placement, simplifing the way of path planing and the following proplem of motion control.It is obtained the information such as the Euler angles, the position vector as well as cutting silk information through the preliminary period fiber placement path planning, On the way of the realization of motion control in specifically, It is existed redundant degree-of-freedom based on the fiber placement structure discussed by this article,It is proposed that the terminal of the fiber placement head should be locked in the fiber placement plane, It is coordinated the motion of the manipulator and the principal axis to make the final resultant motion path consistent with the planning path. On problem of the movement information's processing, It is proposed by this article that the realization of motion control should be concentrated on placement points and the relationship between placement points.The placement points should be seen as the assembly point of information,It is only needed to satisfy the placement points and the mutual connection between placement points and neglect the planning path to make the realization of motion trajectory simply. Hereafter,it is discussed in detail the way of calculating the joints corner and the principal axis corner by close vector as well as the realization method of control,It has provided the effective and feasible way for the project application of fiber placement motion control.It is used the open style control structure of IPC+PMAC,the hardware control platform is built to confirme method proposed by this article. Finally, to consistent with of development direction of the equipment,It is proposed that placement application program module based on Windows should be design to solve the problem of the quantity data and the complex of motion control needed to copy with in the processes of placement, the application is used to copy with the proplem of the information of placement points and silk cutting and so on in the earlier period of fiber placement, The PMAC is used to completes manipulator motion control later period,It provide the project application plan for the control of manipulator trajectory, the software module is developed for the manipulator path control in reaserch, this module could realize the anticipated function and has the advantage of short development cycle, simple for promoted. Finally it is proved that the plan is feasibility through the simple experiment.