Research And Application Of Programming Technology For Six-axis Linkage Strip Laying And Winding

Composite materials are widely used in many important structural parts of the aviation industry.Composite materials are placed on the surface of these structural members to enhance their performance.The traditional manual winding method takes a long time and costs,and it is difficult to meet short cycles.The need for efficient splicing.In this paper,we study the high-efficiency paved path planning algorithm for six-axis paving machine tools for the shape characteristics of aerospace parts.On the basis of analyzing the processing requirements of the paving and wrapping process and the shape characteristics of the paving parts,the initial path of the wrapping process is planned;the problem of reducing the paving efficiency is solved for the sharp change of the curvature vector of the local area of ??the surface to be wrapped.The feasible error range of the axis attitude is kinematically modeled for the structure of the six-axis belting machine tool.It is proposed to reduce the fluctuation degree of the rotation axis along the machining path under the constraint of each axis stroke by using the filtering method,and adopt a tool path that is wrapped around a circle.The optimization is carried out to verify the effectiveness of the tool axis attitude optimization algorithm.For the problem of redundant axis travel assignment during the post-processing of the six-axis paving machine,calculate the feasible field of the redundant axis along the machining path according to the stroke range of the machine axes,and plan the motion trajectory of the redundant axis: including based on the backtracking method.Particle swarm optimization algorithm and reinforcement learning algorithm;for the problem of large movement burden of the rotary table axis,build a simulation learning environment that can reflect the performance of the exercise,and strengthen the learning and control decision body to move the redundant axis in the feasible area,and select the test case to test the above The effectiveness of the algorithm.Aiming at the problem that the RTCP function of the domestic numerical control system does not support the six-axis machine tool,the RTCP algorithm is derived based on the six-axis paving machine structure,and the tool tip position transformation algorithm to ensure the tool nose following the target under different structures is deduced and realized.The speed of each axis in the machine coordinate system and the speed of the end effector inthe machining coordinate system were changed.The RTCP function of the six-axis machine tool was developed in the Huazhong 8-type CNC system.Based on the above research work,a special post-processing software was developed for the six-axis paved machine tool,and the simulation test and the actual processing paving test were carried out to verify the effectiveness of the paved path planning algorithm and the RTCP algorithm.The comparison of the front and rear paving tests verifies the improvement of the paving efficiency by the optimization of the tool axis attitude.The comparison experiment results of the simple deduplication strategy show that the strategy of strengthening the learning allocation effectively reduces the effectiveness of the speed and acceleration requirements of the turntable shaft.