| To meet the complex surface of the mold laying needs,a post-processing algorithm is designed for multi-degree of freedom robot platform with live spindle and linear guide,which is based on the robot automated placement platform.The algorithm can realize linkage of robot,spindle and guide,in order to achieve the complex surface components of automated fiber placement manufacturing.In this paper,the structure of robot automated placement platform is introduced,and the motion range and working space of six-axis industrial robots are analyzed in detail.Finally,the robot’s dexterous space is determined,and the live spindle posit ion is determined by the robot’s dexterous space.And virtual simulat ion of robot automated placement platform is built.Secondly,the post-processing algorithm of robot platform is introduced.The data structure of the post-processing algor ithm is designed,and the method of calculat ing the tangent vector and the rotation matrix is designed.The robot’s posture information is calculated by the rotating matrix.For the post-processing of external axes,this paper introduces the post-processing methods of the linear guide and live spindle,and introduces the singular point calculat ion to modify the trajectory.It is found that the equal height algorithm has a great advantage in evading singularity.Finally,the equal height algorithm has a great advantage in circumventing the singular ity.The final post-processing algor ithm of the robot automated fiber placement platform is that the rails are translated with reference to the trajectory point on the mold,and the post-processing algorithm of the equal height is referenced to the intersection of the hand axis and the singular point calculation is introduced to modify the algorithm.Then the robot post-processing algorithm is optim ized.The least squares method is used to fit the angle of the live spindle to elim inat e the frequent oscillat ions of the live spindle in some intervals.The trajectory is optimized for the over-edge area with large spindle velocity,and the kink of the trajectory is elim inat ed.The singular point calculation is applied to the overall post-processing results to elim inate the errors produced by the singular points during the movement of the robot and improve the efficiency of fiber placement.Finally,the virtual automated fiber placement simulation is carried out in the simulat ion environment.The post-processing algorithm of the robot and the actual laying effect of the optim izat ion are demonstrated,which verifies the feasibility of the algorithm. |
