CFRP Prepreg Fiber Optic Sensor Automatic Laying Device Design

Fiber optic sensor has small size, light quality and integrating sensing transmission characteristics, made into carbon fiber presoak made intelligent composite material is one of the options. But when the embedded optical fiber is in large tensile strain large difference of status, or paragraphs will bring the demodulation of distributed optical fiber sensor and increase the difficulty. For fiber optic smart composite materials in the manual will be optical fiber laying to optical fiber of carbon fiber in material surface, uneven stress path is hard to control, adopt the way of mechanical arm laying terminal mechanism, design path control and laying compaction device respectively, laying achieving a uniform due to the straight path.The thesis mainly includes the following content.(1) Determine the layout of the automatic laying device. Analyses the working principle of the carbon fiber laying device, combined with optical fiber sensor and the compatibility of carbon fiber in material, and its mechanical characteristics, and includes the mechanical arm, workbench and its auxiliary body laying device of the overall scheme design and component selection.(2) The kinematics analysis of placement manipulator. According to the selected mechanical arm structure, based on the terminal trajectory, decomposition columns of mechanical arm, arm, forearm and wrist movement freedom, order 4 of 6 degrees of freedom kinematical equation, using d-h method to establish a homogeneous joint transform of 4 * 4matrix, and the forward kinematics equation, and to lay out mechanical arm terminal trajectory planning of the actuator.(3) The design of control system for automatic laying equiptment. According to the identified laying terminal trajectory, the IPC and the arduino controller with PMAC motion control card as the hardware; The PID control, according to the proportion of the servo motor control algorithm for PID control gain KP, TI integral gain and differential gain TD parameters. Make full use of computer resources and with PMAC real-time processing ability,realize the double CPU open control system; At the same time with the arduino programming software interface laying track programming in C language.(4) The experiment of laying fiber optic sensor machine. End the mechanical structure,mechanical arm used to develop the straight path, for example fiber laying experiments, using optical fiber Bragg grating sensor for laying stress uniformity test; At the same time in the process of the fiber optic sensor laying path error source analysis, etc.