基于间隙预测模型的自动铺带轨迹优化方法  

A Trajectory Optimization Method Based on the Gap Prediction Model for Automated Tape Placement

作　　者：张鹏 尹来容[1,2] 仝永刚 黄龙 ZHANG Peng;YIN Lairong;TONG Yonggang;HUANG Long(College of Automotive and Mechanical Engineering,Changsha University of Science and Technology,Changsha 410114;Key Laboratory of Lightweight and Reliability Technology for Engineering Vehicle,Education Department of Hunan Province,Changsha 410114)

机构地区：[1]长沙理工大学汽车与机械工程学院,长沙410114 [2]工程车辆轻量化与可靠性技术湖南省高校重点实验室,长沙410114

出　　处：《机械工程学报》2024年第5期296-316,共21页Journal of Mechanical Engineering

基　　金：国家自然科学基金资助项目(51705036,52175003)。

摘　　要：自动铺带技术是一种先进复合材料低成本制造技术。轨迹规划是其关键环节,直接影响铺放过程的精度、效率以及最终产品的质量。由于缺乏铺放间隙的预测模型,现有的自动铺带轨迹规划方法通常需要多次迭代才能得到满足间隙要求的铺放轨迹,这一过程计算量较大且无法得到较优解。有鉴于此,提出一种基于间隙预测模型的自动铺带轨迹优化方法。建立铺放间隙的预测模型,反映初始铺放条件、模具曲面几何特征、铺放路径测地曲率等因素对间隙大小的影响。基于间隙预测模型提出两种铺放轨迹优化策略,将自动铺带轨迹规划问题转化为求解线性规划问题,得到典型模具曲面上较优的铺带轨迹。试验结果表明,在所有算例中,预测间隙与真实间隙之间的最大偏差在15%以内,且大多数情况中预测间隙对真实间隙的吻合程度远优于此值。所提出的轨迹优化方法在防止铺放褶皱的前提下,得到满足间隙约束的较优铺放路径,同时避免繁琐的迭代过程,对开发高性能自动铺带软件具有指导意义。Automated tape placement(ATP)is an advanced low-cost manufacturing technology for composite materials.Trajectory planning is the key link of ATP,which directly affects the precision and efficiency of the lay-up process,and the quality of the final product.Due to the absence of a gap model,existing trajectory planning methods for ATP usually obtain feasible paths that meet the gap requirements through iterations.This process is time costly,and does not acquire an optimal solution.In view of this,a trajectory optimization method based on the gap prediction model is proposed.Firstly,the gap prediction model is established,which reveals the influence of initial layup conditions,geometric characteristics of the mould surface,geodesic curvature of the placement trajectory and other factors on the gap size.Then,two trajectory optimization strategies are proposed based on the gap model,which transforms the trajectory planning into solving a linear programming problem.Based on the optimization strategies,optimal layup trajectories on several typical mold surfaces are obtained.The experimental results show that in all the examples throughout this paper,the maximum deviation between the prediction gap and the real gap is smaller than 15%,and in most cases,the prediction gap matches the real gap much better than this value.The presented trajectory optimization method solves better layup trajectories that satisfy the gap requirement on the premise of preventing wrinkles,and avoids tedious iterations,which has a guiding significance for the development of high-performance trajectory planning software for ATP.

关 键 词：自动铺带 轨迹规划 铺放间隙 优化 线性规划 

分 类 号：TH164[机械工程—机械制造及自动化]