碳纤维复合材料壳体预浸带铺放原位成型轨迹规划  

Trajectory planning of in-situ fiber placement for carbon fiber composite shells

作　　者：刘冬 田明[1] 王菲[1,2] 张承双[3] 包艳玲[3] 张承灏[1,2] 苏忠民 LIU Dong;TIAN Ming;WANG Fei;ZHANG Chengshuang;BAO Yanling;ZHANG Chenghao;SU Zhongmin(School of Optoelectronic Engineering,Changchun University of Science and Technology,Changchun 130022,China;Zhongshan Research Institute,Changchun University of Science and Technology,Zhongshan 528436,China;Xi'an Aerospace Composite Materials Research Institute,Xi'an 710065,China)

机构地区：[1]长春理工大学光电工程学院,长春130022 [2]长春理工大学中山研究院,中山528436 [3]西安航天复合材料研究所,西安710065

出　　处：《复合材料学报》2024年第12期6488-6497,共10页Acta Materiae Compositae Sinica

基　　金：国家自然科学基金-航天先进制造联合基金重点项目(U1937201);吉林省重点研发计划项目(20200401100GX)。

摘　　要：针对复合材料壳体封头预浸带铺放原位成型过程中多功能铺放头末端滑移问题,开展对碳纤维复合材料铺放机器人轨迹规划的研究。通过构建预浸带铺放路径模型获取铺放角与中心转角,利用中心转角进行动静坐标转换并运用微分几何解算出铺放位姿,通过改进原始蛇优化算法来提高算法收敛速度与精度并应用于铺放机器人逆运动学,逆解铺放位姿获取铺放机器人前七轴关节角度匹配中心转角实现铺放头末端滑移抑制,进行椭球壳体预浸带铺放原位成型仿真与实验。结果表明,预浸带铺放轨迹规划方法在不等极孔壳体预浸带铺放原位成型实验中没有发生滑移与褶皱现象,铺放位姿精度为10-16;满足预浸带铺放原位成型位姿精度要求,能够应用于实际预浸带铺放原位成型工作。To address slippage issues at the end of a multi-function laying head,a prepreg tape laying trajectory planning method for robot placing carbon fiber composite material was proposed.First,laying angles and center angles were obtained based on a prepreg tape laying path model.A differential geometric solution was applied to transition from dynamic to static coordinates based on the center angle,enabling calculation of the paving pose.Second,the convergence speed and calculation accuracy were enhanced by refining the original snake optimization algorithm and incorporating it into the inverse kinematics of the laying robot.Inverse kinematics was employed to obtain the joint angles of the front seven axes of the laying robot from the laying pose.Matching the joint angles to the center angles effectively suppressed slippage at the end of the placement head.Finally,simulations and experiments were conducted on in-situ molding of ellipsoid shell tow laying.The results demonstrate no occurrences of slippage or wrinkles during the in-situ molding experiment involving the laying out of tows for unequal pole hole shells.The laying pose accuracy reaches 10-16,meeting the precision requirements for in-situ molding pose of tow laying,thus making it suitable for practical applications in tow laying in-situ molding work.

关 键 词：原位成型 复合材料 铺放机器人 逆运动学 改进蛇优化算法 

分 类 号：TB332[一般工业技术—材料科学与工程] TP242[自动化与计算机技术—检测技术与自动化装置]