Design And Research Of Automatic Filament-winding System For Filament Winding Machine

Now, Technology of filament winding machine is well-developed and the level of automation is relatively high. But there is still a long distance to full automation and absentee control because of lacking of automatic loading/unloading and automatic filament-winding. It is indispensable to solve these problems to meet the growing need from practice production. Under this background, we designed the automatic filament-winding system by taking advantage of industry robot technology and gained the overall design solution.In this paper, the machine structure, propulsion system, transferring system and control system is designed and analyzed, guided by the concept of mechanotronics. Based on the theory of robotics, manipulator's kinematics equation is established and inverse kinematics analysis and calculation is made by algebraic solution after simplification, besides, Cartesian-space schemes, working space and singularities are also taken into account. In the end, dynamics analysis methods are introduced briefly.By use of Virtual Prototyping Technology, this paper makes a design and analysis to machine parts of automatic filament-winding system in details, including the selection and comparison of manipulator's structural design solutions and the design of end-effector, transferring mechanism and linking sections, meantime, gives the design process and basis. On the basis of this work, this paper makes the mechanism motion simulation and analysis of manipulator and its parts by use of CAD/CAE tools and gets graphic and animation simulation results. These results provide theorical foundation for the selection and verification of stepper motors and the structural optimum design of manipulator and end-effector. Further than that, this paper makes a simple graphic simulation and analysis for the configuration solution of manipulator by use of Matlab, and it can verify whether the coordinate frames is well-established or not directly to ensure the accuracy of kinematics analysis later. Be coupled with methods previously stated, combined simulation technology is narrated and this technology embodies the concept of mechanotronics and militates in favor of the optimum design of the prototype.As a result of this work, this paper gets the overall design solution of automatic filament-winding system and provides reference for further design and realization of control system.