Research On Winding Method At Transition Of T-Tube And Realization Of Trajectory

Carbon fiber composite materials have good chemical stability,light weight,strong corrosion resistance,and good heat resistance,making them widely concerned and applied in the fields of national defense and people's livelihood.However,due to the difference in product structure and the special of carbon fiber composite materials,the molding process is difficult;at the same time,the automated production process is not advanced,resulting in the inability of large-scale production of carbon fiber composite materials and low production efficiency.There are many kinds of molding processes for carbon fiber composite materials.The most common one is winding molding.Common winding products include hydrogen bottle storage containers,cylindrical revolving bodies,T-shaped tubes,etc.The T-shaped tube is different from the ordinary cylindrical revolving body structure.It is more complicated,and it is relatively difficult to realize the carbon fiber winding of the T-shaped tube.For the winding of T-shaped pipes,the main equipment used are four-axis and two-axis,resulting in low processing accuracy of its products.On the other hand,optimization algorithms are rarely used in the winding process,which makes the winding efficiency low,high energy consumption issues.In view of the above problems,this topic proposes a method of using a robot to wrap carbon fibers on a T-shaped tube.The specific research contents are as follows:Firstly,the carbon fiber winding molding process is analyzed,and the T-shaped tube is wound by dry winding,and the stable condition of the line shape is analyzed and studied;for the design of the winding line of the T-shaped tube,the parametric method is selected for the design,deduce the geodesic and non-geodetic equations,and complete the winding line design of each part of the T-tube by using the combination of the two line types.Then,according to the T-tube winding work requirements,complete the analysis and overall scheme design of the T-tube carbon fiber winding device,select the robot required for the winding device,and use the three-dimensional software solidworks to complete the modeling of the end effector in the winding device.Finite element analysis of key components in the end effector.Finally,the kr60-3 six-degree-of-freedom industrial robot's kinematics model is established by using the improved D-H parameter method,the forward and inverse kinematics are solved for the robot,and the modeling and forward and inverse kinematics simulation of the robot are completed in Matlab.The winding trajectory points are extracted,and the winding trajectory is obtained by processing the trajectory points;the trajectory planning of the joint space of the robot is carried out,and a variety of interpolation algorithms are used for comparison.Based on the multiobjective optimization of time-energy-impact,using an improved non-dominated sorting genetic algorithm optimizes the winding trajectory,so that the time-energyimpact of the T-tube winding work is optimal.