基于CATIA生成数控加工路径的机器人纤维铺放轨迹规划

doi:10.7527/S1000-6893.2013.0471

材料工程与机械制造

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基于CATIA生成数控加工路径的机器人纤维铺放轨迹规划

段玉岗, 董肖伟, 葛衍明, 刘德宁

西安交通大学机械制造系统工程国家重点实验室, 陕西西安 710054

收稿日期:2013-10-15 修回日期:2013-11-19 出版日期:2014-09-25 发布日期:2014-09-17
通讯作者: 段玉岗，Tel.：029-83399516 E-mail：ygduan@xjtu.edu.cn E-mail:ygduan@xjtu.edu.cn
作者简介:段玉岗男，教授，博士生导师。主要研究方向：复合材料制造工艺与装备，增材制造技术。Tel：029-83399516 E-mail：ygduan@xjtu.edu.cn；董肖伟男，硕士研究生。主要研究方向：纤维铺放轨迹规划。E-mail：qldxw@126.com；葛衍明男，硕士研究生。主要研究方向：纤维铺放轨迹规划及铺放工艺。E-mail：secretupman@stu.sjtu.edu.cn；刘德宁男，硕士研究生。主要研究方向：纤维铺放工艺及过程控制。E-mail：ldn1888@163.com
基金资助:
国家“863”计划（2012AA040209）；新世纪优秀人才支持计划（NCET-11-0419）；中央高校基本科研业务费专项资金

Robotic Fiber Placement Trajectory Planning Based on CATIA CNC Machining Path

DUAN Yugang, DONG Xiaowei, GE Yanming, LIU Dening

State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong University, Xi'an 710054, China

Received:2013-10-15 Revised:2013-11-19 Online:2014-09-25 Published:2014-09-17
Supported by:
National High-tech Research and Development Program of China (2012AA040209); Program for New Century Excellent Talents in University (NCET-11-0419); Fundamental Research Funds for the Central Universities

摘要/Abstract

摘要：

纤维铺放轨迹规划是纤维铺放成型中控制加工路径的关键步骤，直接影响复合材料构件的成型精度和铺放效率。本文基于成熟的商业化CATIA数控加工编程软件进行纤维铺放轨迹计算，获取待处理的加工路径，利用矢量补充和格式转换算法解决了铺放轨迹信息与FANUC机器人兼容性差的问题；借助插值算法求出了输送点和剪断点，补充了铺放轨迹信息，进而得到了完整的铺放信息，缩短了开发周期。在基于FANUC机器人的铺放装备上对某飞机舱门进行铺放实验，验证了基于CATIA数控加工技术的纤维铺放轨迹生成方法具有可行性，铺放轨迹结束点位置误差及轨迹间距误差都在±0.5 mm之内。

关键词: 复合材料, 纤维铺放, 轨迹规划, 数控加工, 插值算法

Abstract:

As one of the key issues for machining path control of fiber placement molding, trajectory planning directly influences the molding accuracy and placement efficiency of composite structures. To obtain the machining path for deal with, the CATIA numerical control programming soft is used to calculate the fiber placement trajectory. The problem of poor compatibility between placement trajectory information and FANUC is solved by using the vector supplement and format conversion algorithm. By means of the interpolation algorithm, the delivery points and the cutting points are calculated and combined with the placement trajectory information to yield the complete placement information and a short period. Finally, the fiber placement trajectory method based on the CATIA numerical control technology is tested on an aircraft door placement experiment using the FANUC robot fiber placement equipment. Trajectory end point position error and the trajectory distance error are both controlled within ±0.5 mm.

Key words: composite materials, fiber placement, trajectory planning, CNC machining, interpolation algorithm

中图分类号:

V261
TP249

段玉岗, 董肖伟, 葛衍明, 刘德宁. 基于CATIA生成数控加工路径的机器人纤维铺放轨迹规划[J]. 航空学报, 2014, 35(9): 2632-2640.

DUAN Yugang, DONG Xiaowei, GE Yanming, LIU Dening. Robotic Fiber Placement Trajectory Planning Based on CATIA CNC Machining Path[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2014, 35(9): 2632-2640.

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E-mail：hkxb@buaa.edu.cn

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主管单位：中国科学技术协会主办单位：中国航空学会北京航空航天大学

基于CATIA生成数控加工路径的机器人纤维铺放轨迹规划

Robotic Fiber Placement Trajectory Planning Based on CATIA CNC Machining Path

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