Research On Key Technology In Trajectory Post-processing Method For Composite Material Automated Placement Robot

Trajectory post-processing, an essential process of Composite Material Automated Placement, can greatly and directly affect the properties of components, while significantly influence the forming quality, the producing efficiency, and stability of equipment operation. In this dissertation, shown are the researches conducted to solve the post-processing method for Automated Placement trajectory and layer boundary treatment, the method to generate robot control programs are also involved.Firstly, the configuration of the six axis industrial robot was studied, kinematics model of the robot was established by D-H method. Promoted was a surface superposition method to calculate the envelope of robot working area. Studied was the relative position of the robot and mould using position and attitude decoupling feature. Given was a three point method to solve the mould setting.Secondly, studied was the joint post-processing method of 6 axis robot. Calculated was the inverse kinematics of industrial robot that meets Pieper standards by analytic method, the causes of multi-solution problem was analyzed and the single valued analytic solution was given by limiting the range of motion for several axis. A typical robot motion trajectory was fitted through 5 polynomial, studied were the motion, speed and joint torque this trajectory. The multi-axis motion was optimized measured by joint torque.Thirdly, promoted was an algorithm to solve complex boundary treatment in curved surface, which should be preprocessed. As the surface information is obtained by STL, a topological reconstruction method was promoted based on hash table, which simplified the reconstruction method and improve the speed of an order of magnitude. According to the reconstructed surface boundary information, raised was a boundary treatment method based on discrete boundary. Aiming at automatic fiber placement, the surface boundary was mapped to the boundary of each tow and treated separately. For automated tape laying, analyzed were the limitation of double-cut cutting system, Elaborated were the boundary shape that cannot be treated by the double-cut cutting system, put forward was a method of boundary simplification and combination of single-phase and pre-cut..Finally, the methods were realized by C++ programming in Visual C++ 6.0 development environment, and were tested through simulation and experiments. The joint post-processing of 6 axis robot was verified in a small-sized robot platform, which demonstrates the single valued analytic solution is able to solve the problem of robot control. The boundary treatment algorithm was verified in a ATP equipment, tape laying experiment demonstrate that the algorithm was Correct and effective.