基于机器人的复合材料缠绕策略优化  

Optimization of composite winding strategy based on robot

作　　者：许家忠[1] 杨海[2] 高良超[3] 于立英[1] 王燕[1] 

机构地区：[1]哈尔滨理工大学自动化学院,哈尔滨150080 [2]哈尔滨理工大学机械动力工程学院,哈尔滨150080 [3]中国船舶重工集团公司第703研究所试验研究事业部,哈尔滨150080

出　　处：《复合材料学报》2016年第6期1318-1326,共9页Acta Materiae Compositae Sinica

基　　金：黑龙江省自然科学基金(E201301);哈尔滨市优秀学科带头人项目(2015RAXXJ013)

摘　　要：基于机器人的复合材料缠绕不同缠绕策略会对缠绕工艺及机器人运动稳定性产生影响,为获得使机器人运动稳定性更优的缠绕策略,研究了6自由度工业机器人的复合材料缠绕工作站,单独分析了包络形式、悬纱长度以及测地线/非测地线缠绕等参数对缠绕工艺及机器人运动稳定性的变化参数的影响,采用MATLAB进行不同缠绕策略的机器人缠绕轨迹计算,确定规划后的缠绕轨迹,基于ADAMS和MATLAB进行机器人缠绕动力学联合仿真,获取机器人各关节力矩曲线,分析规划后的缠绕轨迹对机器人运动稳定性的影响。进行了复合材料制品干纤维缠绕实验,缠绕实验表明:采用优化后的缠绕策略进行复合材料制品缠绕时缠绕线型稳定,缠绕过程无滑纱、交叠、架空等现象,缠绕精度完全满足设计要求。Different winding strategies of composite winding based on robot can influence the winding craft and ki-netic stability of the robot.In order to get better winding strategy of the robot kinetic stability,composite winding workstation of industrial robot with 6 degree of freedom was studied,in which individually analyze the influence of enveloping form,length of the hanging filament,geodesic and non-geodesic winding etc.on the robot kinetic stabili-ty and the variation parameters.MATLAB was used to calculate robot winding tracks in different winding strategies and determine winding track after proj ecting.Joint simulation of robot winding dynamics based on ADAMS and MATLAB was conducted to obtain curves of each joint torque of the robot,then the influence of the winding track after proj ecting on the robot kinetic stability of was analyzed.The experiment of dry fiber winding of composite products was carried out.The winding experiment indicates the optimized winding method adopts to stabilize the winding pattern and has no slip yarn,overlapping,overhead and other phenomena in the winding process,and the winding precision completely meets the design requirements.

关 键 词：复合材料 机器人 缠绕策略 联合仿真 优化 

分 类 号：TB330.1[一般工业技术—材料科学与工程]