Research On Key Technologies Of Filament Winding Robot Of Composite

It is well known that composite has been widely used in aerospace,ship,ocean,energy,chemical,automobile and other fields due to its advantages such as light weight,high strength,corrosion resistance and design.The main feature of composite lies in typical structure-process-performance integrated material,and its forming process and equipment directly affect the performance and cost of composite.Moreover,owing to the advantages of filament winding process in high molding efficiency,sufficient material performance utilization and good product quality consistency,the filament winding process becomes the preferred role for forming axisymmetric rotary composite.With the increasing demand for low-cost,diversified and complex-shaped filament winding products,the traditional winding forming process and equipment have high costs and poor flexibility,which restricts the application and development of filament winding composite.It should be mentioned that industrial robot has the advantages of multiple degrees of freedom,good versatility,and strong scalability,and their positioning accuracy can meet the requirements of filament winding process.Therefore,this paper investigates key technologies from the points of filament winding system dynamics,trajectory planning and optimization based on six-degree-of-freedom industrial robot,aiming at developing robotic winding equipment,and realizing flexible and low-cost manufacturing of filament winding composite.In this paper,we discuss the uniform winding operation trajectory planning method of the filament winding robot for axisymmetric rotary class of composite.Based on the geodesic / non-geodesic filament winding mode and winding pattern,a multi-segment cone fitting method is used to obtain the winding pattern and movement trajectory of an axisymmetric rotating shell for complex shape.According to the configuration of the filament winding robot and the spindle structure,the freedom of movement and the envelope formed by the pay-out eyes along the mandrel contour,we study the trajectory planning method based on the open enveloping cylinder,entire enveloping cylinder and constant overhang length such that the uniform design of the trajectory for filament winding robot is suitable for different types of composite.With the help of curve smoothness evaluation function,the workspace evaluation function and the subsequent capability evaluation function,the multi-degree-of-freedom filament winding equipment winding operation trajectory are evaluated to optimize the overhang length of robotic winding.Noting the requirements of the filament winding forming process and the characteristics of small and complex shape composite,a flexible system of filament winding robot based on the robot clamping mandrel and the fixed pay-out eyes to form a winding relative movement method is designed.Then,the operation kinematics analysis model of the filament winding robot is established,and the movement trajectories of each joint of the robot are obtained based on the inverse kinematics analysis of the robotic winding operation trajectory planning results.Subsequently,a dynamic analysis model for the operation of filament winding robot is presented by taking into account factors such as winding tension,doffing point,and the quality of the winding products as the filament winding trajectory change,to analyze and optimize the influence of fiber tension and component load acting on the robot end and joint driving torque.To improve the smoothness and stability of the trajectory of the filament winding robot,eliminate the fluctuation of the filament winding tension,improve the quality of the filament winding products,and realize the efficient and low-cost filament winding molding of composite,the multi-objective optimization method of the filament winding robotic trajectory is developed.According to the objective function and evaluation index of the trajectory optimization on filament winding robot,the trajectory smoothing of the robot is achieved by using the non-equallength time of multi-objective programming method for the designed structure and robotic trajectory optimization goal.By applying the NSGA-? genetic algorithm in various optimization tasks such as the motion time,energy consumption,stability,and smoothness,it is desirable to achieve the stable winding of fibers.Finally,a robotic filament winding system with a fixed pay-out eyes and a robot clamping mandrel winding method is developed based on the winding process requirements.By investigating the experiments on the robotic winding operation trajectory planning,robotic trajectory optimization,winding trajectory accuracy and tension fluctuation detection and evaluation of different types of composite,the winding operation trajectory uniform planning method of the filament winding robot based on the envelope and the non-equal-length time multi-objective robotic winding smooth trajectory optimization method effectiveness are verified.In this paper,through the research on the key technologies of winding operation trajectory of filament winding robot,robotic operation dynamics,robotic motion trajectory,and winding equipment development,the theoretical basis theories for robotic winding of composite and a new idea for winding equipment operation trajectory planning are provided.The new technique for the filament winding operation of composite with high dynamic response,high flexibility requirements and diversified is provided,and lays a foundation for the industrial application of robotic winding of composite.