冗余铺丝机械手自运动流形分析及优化

doi:10.7527/S1000-6893.2016.0132

Abstract

Abstract:

Traditional position and posture separated fiber placement manipulator is less flexible. To improve the flexibility and obstacle avoidance capability of the manipulator for aerospace composite material placement, a new algorithm of self-motion manifolds is proposed for the position and posture coupled redundant fiber placement manipulator model. As the strong coupling between each joint of the redundant fiber placement manipulator can cause increased difficulty in obtaining inverse solutions, the inverse solution for the manipulator joint is decomposed into the known Paden-Kahan screw sub-problem and special screw sub-problem. Solution to the special screw sub-problem is obtained to get the whole inverse solution for the redundant fiber placement manipulator. The efficiency and intuitivity of the inverse solution for the manipulator is thus enhanced. As the inverse solutions for the redundant fiber placement manipulator presents a structure of manifolds, the self-motion manifolds of the redundant fiber placement manipulator are mapped to position joints space and posture joints space to get three-dimensional simulation curve based on the multi-dimensional characteristic of the self-motion manifolds of the redundant fiber placement manipulator. The optimized manifolds are more applicable than the whole general manifolds in the practical control, so the optimized manifolds are obtained by the objective function constituted by joint velocity of the redundant manipulator in order to enable the kinetic energy minimum and various joints velocity to change more smoothly and steadily while the end effector moves along the mandrel trajectory, providing foundation for subsequent optimum control. The method is verified by using the S-shaped inlet simulation.

Key words: redundancy, fiber placement, inverse solutions, screw, manifolds

CLC Number:

V261.97

XU Peng, ZHAO Dongbiao, YING Mingfeng, LI Kui. Analysis and optimization for self-motion manifolds of redundant fiber placement manipulator[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2017, 38(1): 420138-420138.

References

[1] BRUYNEEL M, ZEIN S. A modified fast marching method for defining fiber placement trajectories over meshes[J]. Computers and Structures, 2013, 125:45-52.
[2] 熊文磊, 肖军, 王显峰, 等. 基于网格化曲面的自适应自动铺放轨迹算法[J]. 航空学报, 2013, 34(2):434-441. XIONG W L, XIAO J, WANG X F, et al. Algorithm of adaptive path planning for automated placement on meshed surface[J]. Acta Aeronautica et Astronautica Sinica, 2013, 34(2):434-441(in Chinese).
[3] CHEN J H, CHEN-KEAT T, HOJJATI M, et al. Impact of layup rate on the quality of fiber steering/cut-restart in automated fiber placement processes[J]. Science and Engineering of Composite Materials, 2015, 22(2):165-173.
[4] 陆楠楠, 肖军, 齐俊伟, 等. 面向自动铺放的预浸料动态粘性实验研究[J]. 航空学报, 2014, 35(1):279-286. LU N N, XIAO J, QI J W, et al. Experimental research on prepreg dynamic tack based on automated placement process[J]. Acta Aeronautica et Astronautica Sinica, 2014, 35(1):279-286(in Chinese).
[5] WANG Z B, HAN Z Y, LU H, et al. A review of tensioner for automated fiber placement[J]. Advanced Materials Research, 2013, 740:183-187.
[6] 文立伟, 李俊斐, 王显峰, 等. 基于结构设计的自调节铺放轨迹规划算法[J]. 航空学报, 2013, 34(7):1731-1739. WEN L W, LI J F, WANG X F, et al. Adjustment algorithm based on structural design for automated tape laying and automated fiber placement[J]. Acta Aeronautica et Astronautica Sinica, 2013, 34(7):1731-1739(in Chinese).
[7] 赵新明, 段玉岗, 刘潇龙, 等. 低能电子束原位固化树脂基复合材料纤维铺放制造及性能[J]. 机械工程学报, 2013, 49(11):121-127. ZHAO X M, DUAN Y G, LIU X L, et al. Fabrication and properties of polymer matrix composites by low-energy electron beam in-situ cured fiber placement process[J]. Journal of Mechanical Engineering, 2013, 49(11):121-127(in Chinese).
[8] 方宜武, 王显峰, 顾善群, 等. 自动铺丝过程中预浸料的侧向弯曲[J]. 材料工程, 2015, 43(4):47-52. FANG Y W, WANG X F, GU S Q, et al. Lateral bending of prepreg during automated fiber placement[J]. Journal of Materials Engineering, 2015, 43(4):47-52(in Chinese).
[9] GEORGE M. Automating aerospace composites production with fiber placement[J]. Reinforced Plastics, 2011, 55(3):32-37.
[10] 段玉岗, 董肖伟, 葛衍明, 等. 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 Y G, DONG X W, GE Y M, et al. Robotic fiber placement trajectory planning based on CATIA CNC machining path[J]. Acta Aeronautica et Astronautica Sinica, 2014, 35(9):2632-2640(in Chinese).
[11] SCHMIDT C, SCHULTZ C, WEBER P, et al. Evaluation of eddy current testing for quality assurance and process monitoring of automated fiber placement[J]. Composites Part B:Engineering, 2014, 56(17):109-116.
[12] HASENJAEGER B. Programming and simulating automated fiber placement (AFP) CNC machines[J]. SAMPE Journal, 2013, 49(6):7-13.
[13] CHEN J, XU W J, WANG B, et al. Fuzzy-adaptive PID based tow tension controller for robotic automated fiber placement[J]. Applied Mechanics and Materials, 2014, 643:48-53.
[14] 文立伟, 宋清华, 秦丽华, 等. 基于机器视觉与UMAC的自动铺丝成型构件缺陷检测闭环控制系统[J]. 航空学报, 2015, 36(12):3991-4000. WEN L W, SONG Q H, QIN L H, et al. Defect detection and closed-loop control system for automated fiber placement forming components based on machine vision and UMAC[J]. Acta Aeronautica et Astronautica Sinica, 2015, 36(12):3991-4000(in Chinese).
[15] HAMID T. Real-time inverse kinematics of redundant manipulators using neural networks and quadratic programming:A Lyapunov-based approach[J]. Robotics and Autonomous Systems, 2014, 62(6):766-781.
[16] AN H H, CLEMENT W I, REED B. Analytical inverse kinematic solution with self-motion constraint for the 7-DOF restore robot arm[C]//2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Besancon:AIM, 2014:1325-1330.
[17] GE X F, ZHAO D B, LU Y H, et al. Study of dynamics performance index of the automated fiber placement robotic manipulator[J]. Journal of Information and Computational Science, 2011, 8(14):2975-2982.
[18] PIERRE D, HELENE C, EMMANUEL D. Tool path smoothing of a redundant machine:application to automated fiber placement[J]. Computer-Aided Design, 2011, 43:122-132.
[19] KYLE A J. Enhanced robotic automated fiber placement with accurate robot technology and modular fiber placement head[J]. Psychology of Addictive Behaviors, 2013, 6(2):774-779.
[20] LONG Y, ZEZHONG C C, YAOYAO S, et al. An accurate approach to roller path generation for robotic fiber placement of free-form surface composites[J]. Robotics and Computer Integrated Manufacturing, 2014, 30(3):277-286.
[21] 邵忠喜, 富宏亚, 韩振宇. 纤维铺放设备机械手臂末端运动轨迹的后置处理技术研究[J]. 宇航学报, 2008, 29(6):2023-2029. SHAO Z X, FU H Y, HAN Z Y. Post processing technology for fiber placement machine of manipulator terminal motion trajectory[J]. Journal of Astronautics, 2008, 29(6):2023-2029(in Chinese).
[22] 葛新锋, 赵东标. 7自由度自动铺丝机器人参数化的自运动流形[J]. 机械工程学报, 2012, 48(13):27-31. GE X F, ZHAO D B. Parameterized self-motion manifold of 7-DOF automatic fiber placement robotic manipulator[J]. Journal of Mechanical Engineering, 2012, 48(13):27-31(in Chinese).
[23] TISIUS M, PRYOR M, KAPOOR C, et al. An empirical approach to performance criteria for manipulation[J]. Journal of Mechanisms and Robotics, 2009, 1(3):1-12.
[24] WEI Y H, JIAN S Q, HE S, et al. General approach for inverse kinematics of nR robots[J]. Mechanism and Machine Theory, 2014, 75:97-106.
[25] GALICKI M. Inverse-free control of a robotic manipulator in a task space[J]. Robotics and Autonomous Systems, 2014, 62(2):131-141.
[26] IQBAL H, AIZED T. Workspace analysis and optimization of 4-links of an 8-DOF haptic master device[J]. Robotics and Autonomous Systems, 2014, 62(8):1220-1227.
[27] MOLL M, KAVRAKI L E. Path planning for minimal energy curves of constant length[C]//Proceedings of the 2004 IEEE International Conference on Robotics and Automation. Piscataway, NJ:IEEE Press, 2004(3):2826-2831.
[28] BURDICK J W. On the inverse kinematics of redundant manipulators:Characterization of the self-motion mani-folds[C]//Proceedings of the 1989 IEEE International Conference on Robotics and Automation. Piscataway, NJ:IEEE Press, 1989:264-270.
[29] HSIA T C, GUO Z Y. New inverse kinematics algorithms for redundant robot[J]. Journal of Robotic Systems, 1991, 8(1):117-132.
[30] GUO Z Y, HSIA T C. Joint trajectory generation for redundant robotics in an environment with obstacles[J]. Journal of Robotic Systems, 1993, 10(2):199-215.
[31] 赵建文, 杜志江, 孙立宁. 7自由度冗余手臂自运动流形[J]. 机械工程学报, 2007, 43(9):132-137. ZHAO J W, DU Z J, SUN L N. Self-motion manifolds of a 7-DOF redundant manipulator[J]. Journal of Mechanical Engineering, 2007, 43(9):132-137(in Chinese).
[32] 戴建生. 机构学与旋量理论的历史渊源以及有限位移旋量的发展[J]. 机械工程学报, 2015, 51(13):13-26. DAI J S. Historical relation between mechanisms and screw theory and the development of finite displacement screws[J]. Journal of Mechanical Engineering, 2015, 51(13):13-26(in Chinese).
[33] ZHENG F Y, HUA L, HAN X H. The mathematical model and mechanical properties of variable center distance gears based on screw theory[J]. Mechanism and Machine Theory, 2016, 101:116-139.
[34] IBRAHIM K, RAMADAN A, FANNI M, et al. Development of a new 4-DOF endoscopic parallel manipulator based on screw theory for laparoscopic surgery[J]. Mechatronics, 2015, 28:4-17.
[35] DAI J S. Screw algebra and lie groups and lie algebras[M]. Beijing:Higher Education Press, 2014:119-149.

Analysis and optimization for self-motion manifolds of redundant fiber placement manipulator

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 15

Recommended Articles

Metrics

Comments

[1]	WU Huisong, LIN Qi, LIU Ting, LIU Zhen, SHI Lu, WANG Xiaoguang. Wire-driven parallel suspension mechanism of virtual flight test model in wind tunnel [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(8): 125758-125758.
[2]	KANG Shuo, KE Zhenzheng, WANG Xuan, ZHU Weidong. Detection method of defects in automatic fiber placement based on fusion of infrared and visible images [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(3): 425187-425187.
[3]	XIE Linshan, CHEN Haoran, WANG Haoyu. Placement suitability of T700 carbon fiber/bismaleimide resin prepreg for complex rotary bodies in AFP [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2020, 41(4): 423279-423279.
[4]	SONG Guilin, WANG Xianfeng, ZHAO Cong, GAO Tiancheng, XUE Ke. Fiber placement trajectory planning and tows increase or decrease algorithm for revolution body [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2020, 41(11): 423704-423704.
[5]	HAN Bo, XU Yundou, YAO Jiantao, ZHENG Dong, ZHANG Shuo, ZHAO Yongsheng. Kinematic characteristics analysis and assembly application of a spatial symmetric 7R mechanism [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2019, 40(4): 422536-422536.
[6]	DUAN Mufeng, QIN Tianliang, SHEN Yufeng, XU Jifeng. Minimum gap layup algorithms for automatic fiber placement and manufacture of conic composite structure [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2019, 40(2): 522423-522423.
[7]	CHEN Haoran, LI Yong, HUAN Dajun, WANG Xin, CHU Qiyi. Quality control and mechanical properties of T700/PEEK thermoplastic prepreg for AFP [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2018, 39(6): 421842-421842.
[8]	DONG Anqi, ZHAO Xinqing, ZHAO Yan. Tension-tension fatigue performance of unidirectional out-of-autoclave composite manufactured by automated fiber placement [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2018, 39(2): 421422-421422.
[9]	XU Yundou, LIU Wenlan, CHEN Liangliang, YAO Jiantao, ZHAO Yongsheng, ZHU Jialong. Mobility analysis of a deployable truss-antenna mechanism- Method based on link-demolishing and equivalent idea [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2017, 38(9): 421188-421188.
[10]	LIU Yongjiao, WANG Xianfeng, XIAO Jun. Trajectory planning method for constant geodesic curvature curve of cone [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2017, 38(7): 420904-420904.
[11]	LIU Qinghua, ZHOU Xiuqing, JIN Liangnian. DOA estimation using non-redundant cumulants sparse representation in correlated colored noise [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2017, 38(4): 320331-320331.
[12]	LIU Wenlan, XU Yundou, YAO Jiantao, CHEN Liangliang, WANG Hui, ZHAO Yongsheng. Deployable unit 3R-3URU and its application in deployable truss antenna [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2017, 38(11): 421285-421285.
[13]	ZHU Zhanxia, MA Jiajin, FAN Ruishan. Synchronization control of relative motion for spacecraft with screw theory-based description [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2016, 37(9): 2788-2798.
[14]	ZHAO Cong, XIAO Jun, WANG Xianfeng, LI Junfei, HUANG Wei. Effects of tows tension on automated fiber placement process [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2016, 37(4): 1384-1392.
[15]	WANG Lili, LIU Zhiquan, WU Weiren, ZHANG Zhijing. Analysis of drill stem structural and kinematic parameters of lunar drilling sampling mechanism [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2016, 37(2): 738-748.