Research On Automatic Placement Device And Key Technology Of Carbon Fiber Freeform Surface

The advanced manufacturing technology represented by carbon fiber composite material paving is one of the key technologies to promote the upgrading of China's industrial structure.Carbon fiber is widely used in various fields such as blades,propellers and aircraft wings due to its excellent quality,high strength,good specific stiffness,fatigue resistance,abrasion resistance and corrosion resistance.These are high-order free-form surfaces that place higher demands on the quality and precision of carbon fiber forming.Free-form surfaces are mostly high-order irregular surfaces,difficult to have fixed shapes,and free-form surface placement techniques are complex.However,foreign technology has long blocked this technology,and China's demand for highperformance free-form surface carbon fiber structural parts is increasing,and it is necessary to research on surface placement technology.Research on the design of the placement device,the coordination stability of the placement process,the improvement of the placement accuracy,and the planning of the free-form surface placement.The main research contents are as follows:Firstly,the overall scheme of the carbon fiber free-form surface placement system is completed;according to the structural characteristics of the carbon fiber laying equipment,the structural design of the laying equipment is completed;wherein the carbon fiber laying head comprises a tow clamping module,a tow re-delivery module,a tow shearing module,an auxiliary module;The NCU and the robot controller are used to jointly control the placement device to ensure stable control of the device.Secondly,for the design of the placement equipment,the transformation matrix is established by D-H parameter method,and the kinematic inverse solution of the placement equipment is solved;using Matlab to analyze the motion trajectory and using random probability method to solve the reachable space of the carbon fiber placement system;establish a virtual prototype model of the placement equipment,and use static simulation analysis to check the rationality of the placement equipment;set up theactual prototype model of the placement equipment,and compensate the accuracy of the equipment to improve the accuracy of the equipment.Thirdly,according to the characteristics of free-form surface and placement mechanism,according to the requirements of track layup theory,the comparison of surface meshing method to obtain the trajectory of free-form surface trajectory,a trajectory optimization placement algorithm capable of equal-arc long-span placement is proposed;the method of layering the trajectory layering using normal equidistant offset.Finally,hybrid programming such as NX/open is used to realize the digital trajectory planning system trajectory and its planning software management system.The propeller blades are used as free-form surface objects and compared with the surface mesh method.