Research On Composite Braided Manipulator Controllers

For the feature of high strength,stiffness,corrosion resistance,high temperature and impact resistance,three-dimensional braided composites win widespread concern in the industrial field.The higher requirements of high efficiency and automated production of three-dimensional braided composites are put forward in industrial.At present,the research on 3D braided composites at home and abroad mostly focuses on the weaving process,material parameters and performance improvement,but little research on the automatic control system of composite braiding.Three-dimensional braiding machine is used to braid three-dimensional braided composites.A three-dimensional braiding machine has many braiding stations.Each braiding station has a circular chute.Depending on the braided fabric,the chute is equipped with a number of yarn carriers.All carrying yarn drive the yarn in accordance with the requirements of the weaving process in the slide on the track to complete the weaving process.This project has designed a composite material weaving manipulator control system,which can be applied to the large-scale three-dimensional braiding machine.The manipulator can hold or release the carrier by telescopic manipulator.When grasping the carrier,the manipulator will follow the programmed trajectory to drive the rotation of the carrier.In this control system,each braiding station of the braiding machine has one 85 step motor and two 42 stepping motors,which are controlled by a STC12C5A60S2 single-chip microcomputer,and constitute the lower position machine control system,which are used to control the stretching and rotation of the manipulator movement.All the lower machine are controlled by the S3C2410,which constituting the host computer control system including digital input and screen display.Its function is to collect the execution status of the lower computer and send commands to each lower computer.According to the status of the lower computer,it can be executed or not.If it can not be executed,or waits,or collects the wrong information.the host computer controller communicate with the lower position machine controller through the CAN-BUS.In this paper,the hardware circuit of the system is designed,which includes motor drive circuit,CAN bus communication circuit and power management circuit.Then,according to the four-step process,the macro instruction is programmed,.Finally,in order to facilitate the monitoring and debugging,we also developed the weaving machine monitoring interface and the monitoring interface can feedback the operation of the lower-level machine.In this way,we can use the software to control the running of the lower machine status,error information,and CAN bus transceiver information.