集成式机器人自动铺丝系统设计及CAM软件开发  

Design of Integrated Robotic Automated Fiber Placement System and CAM Software Development

作　　者：孙守政 靳子昂 李新宇 刘明宇 赵志远 韩振宇 富宏亚 SUN Shouzheng;JIN Ziang;LI Xinyu;LIU Mingyu;ZHAO Zhiyuan;HAN Zhenyu;FU Hongya(State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,China;Shanghai Spaceflight Precision Machinery Institute,Shanghai 201600,China)

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨150001 [2]上海航天精密机械研究所,上海201600

出　　处：《航空制造技术》2025年第4期46-52,共7页Aeronautical Manufacturing Technology

基　　金：国家自然科学基金(52205460);黑龙江省自然科学基金(LH2023E041);机器人技术与系统国家重点实验室自主课题(SKLRS202218B)。

摘　　要：为满足航空航天制造业对复合材料构件日益增长的需求,本文针对复合材料自动化成型这一问题,设计了集成式机器人自动铺丝系统及其配套的CAM软件。其中铺丝头和纱架采用一体化设计,有效减小设备总体积并缩短传纱路径。对核心部件铺丝头开展设计,使其具备剪切、重送、夹紧、加热和施压机构功能。基于C++语言、Qt框架、OpenCASCADE和OpenGL开发了自主可控的自动铺丝CAM软件,将显示交互、轨迹规划、铺层分析和运动仿真等功能集成在一起,大大提高了软件的使用性和操作效率。最后通过曲面自动铺丝试验进行验证,结果表明,本文设计的机器人自动铺丝系统及其CAM软件能够保证铺放的准确性、稳定性和可靠性。To meet the growing demand for composite components in the aerospace manufacturing industry,an integrated robotic automated fiber placement system and associated CAM software have been designed for the problem of automated molding of composite materials.The integrated design of the laying head and the yarn frame effectively reduces the total volume of the machine and shortens the yarn transfer path.The core component of the laying head has been designed with shearing,re-feeding,clamping,heating and pressure mechanisms,enabling it to realize the mentioned functions.An autonomous and controllable automated fiber placement CAM software is developed based on C++language,Qt framework,OpenCASCADE and OpenGL.The functions of display interaction,trajectory planning,layup analysis and motion simulation are integrated together,which greatly improves the usableness and operational efficiency of the software.Finally,it is verified by curved surface automated fiber placement experiments.The results show that the designed robotic automated fiber placement system and the CAM software can ensure the accuracy,stability and reliability in the laying process.

关 键 词：自动铺丝 CAM软件 复合材料成型 机构设计 轨迹规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] V260.6[自动化与计算机技术—控制科学与工程]