Trajectory Planning For Autowinding Molding Of Solid Rocket Motor Heat Insulation

The heat insulation of the solid rocket motor is a layer of composite with heat insulation and ablation resistance properties between the motor composite shell and the solid propellant.It protects the normal operation of the motor case under high temperature and high pressure gas by decomposing and ablating itself to take away quantity of heat,which is an essential and important part of solid motor.At present,the method of artificial patch is the main method of domestic EPDM rubber heat insulation molding with low efficiency,high labor intensity,and poor quality stability.The research of heat insulation autowinding equipment and winding process is still in its infancy,the autowinding trajectory planning of variable thickness heat insulation is the key to ensure the autowinding molding with high quality.The trajectory planning of solid rocket motor heat insulation winding molding is studied in this paper,the following is the main research content.The whole structure of the autowinding equipment is designed and autowinding molding scheme for the heat insulation of the solid rocket motor tube segment is proposed;And through the geometrical feature analysis of the solid rocket motor mandrel and heat insulation winding requirements,the calculation method of the width and thickness of the EPDM rubber tape which can be applied to different solid rocket motor is also studied,the winding path of the heat insulation with variable thickness and curvature at different tube sections of the mandrel is studied according to the principle of "natural path" tap placement principle;The method of kinematics and trajectory planning of the autowinding equipment is studied,and the minimum stress and its corresponding position on the positive pressure surface of the deformation area of the heat insulation winding,based on the Hertz contact theory,the depth of the winding roller into the heat insulation along its support axis is obtained,the bonding quality requirements of the heat insulation winding molding is ensured through the trajectory programming of the winding roller to realize the pressure control of the surface of the variable thickness heat insulation;The simulation platform,"Solid Rocket Motor Heat Insulation Autowinding Trajectory Planning System",was developed and completed the simulation results of the autowinding molding of the heat insulation.Finally,the trajectory planning for winding molding for various types of solid rocket motor mandrel were simulated by the simulation system.The simulation results show that the autowinding path in this paper can effectively complete the winding molding of the heat insulation,and can meet the winding quality requirement of the heat insulation.