Design And Research Of Automated Fiber Placement System For Thin-walled Structure

The thin-walled structure has been widely used in aviation,aerospace and other industries as a space structure with light weight,high material utilization rate and strong bearing capacity.The thin-walled structure has the structural characteristics of complex curvature and many dimensional parameters.The traditional CNC machining method is difficult to balance accuracy and cost.The carbon fiber automatic placement technology has the advantages of high molding efficiency,low cost,and flexible processing.It can solve this problem well.One problem.At present,the most widely used automatic carbon fiber placement technology is lowcurvature,large-size thin-walled structural parts such as fan blades and aircraft skins.There is little research on small-scale thin-walled structures with large curvature.Therefore,this paper takes the carbon fiber unmanned boat bow structural parts as the object,designs a carbon fiber placement platform that can be used for small-sized thin-wall structures,and completes the research of related placement software,control schemes,and trajectory placement algorithms.The main research contents are as follows:First,complete the overall design of the carbon fiber placement system for the thinwalled structure.Complete the structural design of the placement head according to functional modules;adopt the topology optimization method to lighten the placement head support;complete the selection of the robot arm,and use the improved DH algorithm based on Matlab software to carry out the reachable space of the placement equipment Analysis;finite element verification of the placement platform;design of the overall control system for the carbon fiber of the thin-walled structure,and completion of the construction of the relevant hardware;and completion of the placement platform temperature control program,tow control program such as pneumatic,tension control program the design of.Secondly,in order to improve the laying efficiency and forming quality,and the corresponding laying temperatures at different curvatures of the structural parts are also different,it is necessary to control the process temperature in real time.Combining the nonlinear characteristics of infrared heating,a fuzzy adaptive sliding mode temperature control scheme is proposed and compared with other commonly used nonlinear temperature control schemes such as fuzzy PID control scheme.Simulink was used to carry out temperature control model simulation comparison experiments to determine the temperature control performance advantages of the fuzzy adaptive sliding mode control method,and to check the response speed and robustness of the control scheme.Thirdly,in order to solve the problem of path planning for thin-wall structure carbon fiber placement,a natural path algorithm based on Laplace smoothing is proposed.The algorithm obtains the grid surface through the discretization of the thin-walled surface structure,smooths the grid using the Laplace method,and uses the natural path method to obtain the trajectory.At the same time,the algorithm also considers the layout path boundary and layer design,etc.The problem is to complete the trajectory planning through the fiber path assisted generation software and compare the trajectory points with the traditional surface mesh method to verify the rationality of the trajectory algorithm.Finally,in response to the needs of building a digital system for the placement platform,complete the interactive interface design of the host computer,and design related modules,such as the development of fiber path assisted generation software and the joint control setting of the robot and the placement head;complete the prototype of the placement platform Build and use BP neural network to compensate the error of the placement platform;verify the thinwall curved carbon fiber placement system and verify the physical prototype.