大尺寸异形结构芯模编织策略及纱线轨迹预测  

Braiding strategy and yarn trajectory prediction of large size special⁃shaped structure mandrel

作　　者：李麒阳 季诚昌[1] 郗欣甫 孙以泽[1] LI Qiyang;JI Chengchang;CHI Xinfu;SUN Yize(College of Mechanical Engineering,Donghua University,Shanghai201620,China)

机构地区：[1]东华大学机械工程学院,上海201620

出　　处：《纺织学报》2023年第10期188-195,共8页Journal of Textile Research

基　　金：国家发改委重大技术装备攻关项目(2021-1635-05);中央高校基本科研业务费专项资金、东华大学研究生创新基金资助项目(CUSF-DH-D-2023036);中国纺织工业联合会应用基础研究项目(J202202)。

摘　　要：针对大尺寸异形结构芯模在编织过程中牵引轨迹精度低、编织角误差大等问题,提出一种基于双机器人协同夹持芯模进行编织的轨迹求解方法,并预测纱线轨迹。首先求解第1台机器人轨迹保证任意一段离散芯模垂直通过编织平面,再利用几何约束求解第2台机器人轨迹,然后提出针对该机器人轨迹的纱线预测模型,预测任意时刻纱线落在芯模上的位置。实验结果表明:使用本文求解的机器人轨迹进行编织可使芯模等截面部分编织角与期望值的误差在±3°以内,弯曲变截面部分的误差在±7°以内;预测模型的结果与实际测量编织角的等截面部分误差在±3°以内,弯曲变截面部分的误差在±5°以内。Objective Due to the lightweight and damage tolerance of composite materials,more and more large-sized shaped structural parts in important fields such as aerospace are using composite materials instead of traditional metal materials.This paper presents a computational solution for a dual robot cooperative braiding process,as well as a model for predicting yarn trajectories for robot-tracted mandrel braiding,taking into account the robot trajectory and the geometric characteristics of complex mandrels.This method facilitates improved braiding accuracy,shortens the composite design cycle and provides a basis for mechanical analysis of the composite at a later stage.Method The spatial geometry of the discrete mandrel and the braiding plane was the research focus,and the trajectory of the robot end was solved using a rotational and translational transformation to obtain position and attitude information.Based on the spatial relationship between the yarn and the mandrel during the braiding process,a yarn prediction was made for this robot trajectory,which was used todetermine whether the yarn has been deposited on the surface of the mandrel based on the geometric relationship between the yarn and the surface of the mandrel at different moments and to predict the fabric construction.Results According to the calculation model established in this paper,the trajectory of the dual robots was obtained.The master robot trajectory ensured the mandrel to pass vertically through the braiding plane.In the bending part,the robot end-effector away from the braiding plane demonstrated a larger movement stroke,and the slave robot trajectory was constrained by the initial position relationship of the dual robot end-effectors,while the dual robot end-effectors were guaranteed to be relatively stationary when moving to any point.The experimental results showed that the error between the braiding angle of the equal section part of the mandrel and the expected value could be within±3 degrees and that of the bending unequal section part

关 键 词：复合材料 大尺寸芯模 环形编织 编织角 牵引轨迹 纱线轨迹预测 

分 类 号：TS101.1[轻工技术与工程—纺织工程]