双机器人分区针刺成形轨迹规划  

Path planning for dual robot partitioned needling

作　　者：李皎[1,2] 辛世纪 陈利[1,2] 易伟 陈小明[1,2,3] LI Jiao;XIN Shiji;CHEN Li;YI Wei;CHEN Xiaoming(School of Textile Science and Engineering,Tiangong University,Tianjin 300387,China;Key Laboratory of Advanced Textile Composite Materials of Ministry of Education,Tiangong University,Tianjin 300387,China;School of Mechanical Engineering,Tiangong University,Tianjin 300387,China;Changsha Jingyou New Material Technology Co.,Ltd.,Changsha,Hunan 410200,China)

机构地区：[1]天津工业大学纺织科学与工程学院,天津300387 [2]天津工业大学先进纺织复合材料教育部重点实验室,天津300387 [3]天津工业大学机械工程学院,天津300387 [4]长沙晶优新材料科技有限公司,湖南长沙410200

出　　处：《纺织学报》2025年第3期207-215,共9页Journal of Textile Research

基　　金：先进功能复合材料技术重点实验室基金项目(6142906210406);天津市自然科学基金重点项目(23JCZDJC00450)。

摘　　要：为提高类回转曲面预制体的针刺成型质量和生产效率,提出一种双机器人分区针刺成形轨迹规划技术。利用类回转体的对称面,将针刺区域等分,实现双机器人针刺任务的均衡分配及其动作的独立控制,再使用三维CAD软件处理曲面数模获得针刺路径,然后通过由针刺点和辅助点构造的4个共顶点的三角网格单元,计算针刺点空间姿态。结果表明:构建的双机器人分区针刺轨迹规划理论与方法可行,开发的CAM后置处理软件可在2 s内实现机器人可执行程序的高效、高精确输出。双机器人分区针刺离线仿真过程无碰撞,末端执行器的位姿精准,类回转预制体针刺成形的针迹与计算机模拟轨迹的结果高度一致。双机器人高效完成了类回转预制体的针刺成形,生产效率比单台机器人提高了1倍,总针刺频率达到110次/min,适用于类回转预制体的批量化高效生产织造。Objective This article aims to improve the needling quality and production efficiency of three-dimensional(3-D)composite preforms with irregular shapes.Based on the optimization of 3-D needling path planning algorithms and robotic collaborative needling,a dual-robot needling path planning technique was proposed.This method established an improved needling path planning approach for multi-curvature complex preforms by constructing needling points and auxiliary points,and calculating spatial attitudes.The complex preforms were divided into two zones,and each zone was individually needled by the dual-robot system,further reducing the production cycle.Method This study employed two 6-axis 3-D needling robotic devices to prepare special-shaped preforms using quartz cloth/felt laminates.Rapid output of needling points and auxiliary points was achieved based on CATIA software.The normal vectors of the needling points were obtained by constructing four co-vertex triangular mesh planes.Leveraging spatial vectors,rotation matrices,and Euler angle calculations,the developed partitioned needling path planning computer aided manufacturing(CAM)software successfully generated highly precise and executable robot programs.The rationality and feasibility of the technique were verified through offline robot simulation and physical experiments.Results The needling path planning method was validated through experiments,and the experimental results showed that by dividing the complex preform into two needling zones,and by reasonably allocating the needling trajectory using CATIA software and post-processing CAM software,the robot′s end pose could be accurately calculated.The two needling robots could simultaneously needle the preform,without any collision,doubling the production efficiency during the entire needling process.By comparing to the results from the double robot partitioned needling experiment,it could be seen that the needling trajectory simulated by AUTOCAD was highly consistent with the needling trajectory results on t

关 键 词：针刺机器人 分区针刺 轨迹规划 异形预制体 复合材料 

分 类 号：TS107[轻工技术与工程—纺织工程] TH789[轻工技术与工程—纺织科学与工程]