基于CATIA生成数控加工路径的机器人纤维铺放轨迹规划
收稿日期: 2013-10-15
修回日期: 2013-11-19
网络出版日期: 2014-09-17
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
Received date: 2013-10-15
Revised date: 2013-11-19
Online 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
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。
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 . DOI: 10.7527/S1000-6893.2013.0471
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.
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