Design And Research Of Fiber Placement Robot

With the composite material widely be used in industrial production, in order to improve production efficiency and the utilization of composite materials, auto manufacturing technology of composite material also appear. As a kind of composites, fiber reinforce plastic has many advantages, such as light weight, high strength, easy processing of shape, good corrosion resistance, good fatigue resistance and so on, its application prospect in industry is very broad. At present, it has been widely used in industrial production.Fiber placement technology is a new automatic manufacturing technology for composite, which means the compaction roller of fiber placement head delivers the certain positive press placing the fiber on the surface of rotational core to form a shell structure of composite. Fiber placement technology is particularly fit for the machining of composite parts with complex curved surfaces. Each axis of fiber placement machine cooperatively moves under control of CNC system, which can make the fiber placement head arrive at arbitrary location in space for placement. At present, fiber placement technology has been widely used in aerospace fields in developed countries, but the domestic research of this technology is just taking off.In the past twenty years, the robot technology has been developed greatly and used in many different fields. There is a large gap between our country and the developed countries in research and application of the robot technology so that there will be a great value to study, design and applied different kinds of robots. Taking into account the many advantages of the robot, used in the field of fiber placement is a very practical significance. Based on larger number of relative literatures and combined with the need of project, the author has designed a kind of robot with5degree of freedom which can be fixed on the AGV to construct a mobile robot. First of all, several kinds of schemes were proposed according to the design demand. The best scheme was chosen after analysis and comparing and the structure was designed. At the same time, The kinematics analysis was conducted, the coordinate transformation matrix using D-H method was set up, and the kinematics equation direct and inverse solution was deduced. And then with the coordinate transformation matrix analysis of the workspace, the author drew an axis cutaway diagram of the workspace. These efforts provide an important basis for the structural design and motion control of the robot. The paper completed the structural design of fiber placement equipment, Using the software of Pro/E designed components of fiber placement equipment and assembled it, using Pro/E make motion simulation of fiber placement equipment, it were used to simulate the movement of fiber placement equipment. Using ANSYS analyze the key components of fiber placement equipment, key components include robotic big arm and small arm of fiber placement equipment, robotic big arm and small arm make structural static analysis, and robotic big arm make structural modal analysis, obtained its analysis results, and the results of the analysis was analyzed, find out deficiencies and defects of mechanism design.