Research On Kinemtic Optimization Of Avoiding Gantry-type Automated Fiber Placement Machine's Singularity Problem

Composite materials have become the major structural material for the aerospace industry.Automation,integration and low-cost manufacturing technology have become the mainstream trend of composite materials manufacturing.However,domestic research on the composite material laying equipment is still in its initial stage.The singular phenomenon of automatic fiber placement,which is the main reason to reduce the efficiency of laying,has become the primary factor affecting the quality and performance of the laying.In this paper,considering the singularity of the CBC-type composite material placement machine tool and the kinematic performance of the machine tool and the forming quality of the composite material,the paper studies the path optimization algorithm to adjust the attitude of the machine tool to reduce the singularity of the machine tool.In this paper,the specific research results are as follows:(1)Establishing the kinematic model of the machine tool based on the homogeneous coordinate transformation method,deducing calculation process of machine tool's anti-solution and Jacobian matrix,and then analyzing the relationship between the machine tool's singularity and condition number of matrix.The reasons why the tool's singularity occurred were identified from both mathematics and geometry perspectives,and eventually coming up with the way of determining the singularity of machine tool.(2)Conducting the research to find out the influence that the lateral force and the placement pressure have on the quality of tow,and then the experimental platform for measuring lateral and tangential viscous force was established to obtain the adjustable range of attitude along the direction of pressure roller movement and vertical pressure roller movement by both finite element analysis and experimental method.(3)Based on the adjustable range of path attitude,converting the path adjustment range from P coordinate system to M coordinate system,and putting forward the methods of the placement path attitude optimization which is aiming at minimizing the joint angle change and the second derivative in M coordinate system.(4)Taking the actual machining path as the research object,and carrying out comparison before and after the path optimization in Adams motion simulation software,the results show that this method can effectively reduce the singularity of the machine tool and the sudden change of the singular axis,improve the stability of machine tool laying and laying quality.