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

Abstract

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

CLC Number:

V261
TP249

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.

References

[1] Marsh G. Automating aerospace composites production with fibre placement[J]. Reinforced Plastics, 2011, 55(3): 32-37.

[2] Chen Y L. Composites: from A380 to B787[J]. Aviation Maintenance & Engineering, 2005(3): 31-32. (in Chinese) 陈亚莉. 复合材料在飞机上的新应用[J]. 航空维修与工程, 2005(3): 31-32.

[3] Lukaszewicz D, Ward C, Potter K D. The engineering aspects of automated prepreg layup history present and future[J]. Composites Part B: Engineering, 2012, 43(3): 997-1009.

[4] Grant C G. Fiber placement process utilization within the worldwide aerospace industry[J]. SAMPE Journal, 2000, 36(4): 7-12.

[5] Evans D O. Fiber placement[M]. 2001: 268-279.

[6] Chen X B. Low cost technology of advanced composites[M]. Beijing: Chemical Industry Press, 2004: 88-97. (in Chinese) 陈祥宝. 先进复合材料低成本技术[M]. 北京: 化学工业出版社, 2004: 88-97.

[7] Debout P, Chanal H, Duc E. Tool path smoothing of a redundant machine: Application to automated fiber placement[J]. Computer-Aided Design, 2011, 43(2): 122-132.

[8] Croft K, Lessard L, Pasini D, et al. Experimental study of the effect of automated fiber placement induced defects on performance of composite laminates[J]. Composites Part A: Applied Science and Manufacturing, 2011, 42(5): 484-491.

[9] Siemens. Providing a seamless link between the 3D CAD model and the software that programs fiber placement machines[EB/OL]. Munich:Siemens, 2012. (2012-01-01)[2012-11-28]. http:[C]//www.vistagy.com/products/fiber-placement-interface.aspx.

[10] CGTech. Programming & simulation software for automated fiber-placement (AFP) and tape-laying (ATL) machines[EB/OL]. Irvine:CGTech, 2012. (2012-01-01)[2012-11-28]. http:[C]//cgtech.com/usa/afp-programming-simulation.

[11] Coriolis. Coriolis composites software[EB/OL]. Lyon, 2011. (2011-01-01)[2012-11-28]. http:[C]//www.coriolis-composites.com/logiciel.php.

[12] Zhou Y, An L L, Zhou L S. Research on composite fiber placement path generation algorithm[J]. Aviation Precision Manufacturing Technology, 2006, 42(2): 39-41. (in Chinese) 周燚, 安鲁陵, 周来水. 复合材料自动铺丝路径生成技术研究[J]. 航空精密制造技术, 2006, 42(2): 39-41.

[13] An L L, Zhou Y, Zhou L S. Composite fiber placement path planning and fiber number determination[J]. Acta Aeronautica et Astronautica Sinica, 2007, 28(3): 745-750. (in Chinese) 安鲁陵, 周燚, 周来水. 复合材料纤维铺放路径规划与丝束求解[J]. 航空学报, 2007, 28 (3): 745-750.

[14] Shao Z X, Sun X, Fu H Y, et al. Grid generation method of fiber placement trajectory[J]. Machinery, 2009, 47(11): 23-25.(in Chinese) 邵忠喜, 孙逊, 富宏亚, 等. 纤维铺放轨迹的网格化生成法[J]. 机械制造, 2009, 47(11): 23-25.

[15] Yang T, Gao D B, Li K Y, et al. 840D composite placement system and its control strategy[J]. Aerospace Materials & Technology, 2008(3): 34-36. (in Chinese) 杨涛, 髙殿斌, 李开越, 等. 840D复合材料铺放系统及其控制策略[J]. 宇航材料工艺, 2008(3): 34-36.

[16] Luo H Y, Li Y, Xiao J, et al. Research on automatic tape-laying technique for composites—calculation method of tape-laying path on free-form surfaces[J]. Acta Aeronoutica et Astronautica Sinica, 2009, 30(9): 1782-1787. (in Chinese) 罗海燕, 李勇, 肖军, 等. 复合材料自动铺带技术研究——曲面铺带轨迹算法[J]. 航空学报, 2009, 30(9): 1782-1787.

[17] 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 Aeronoutica et Astronautica Sinica, 2013, 34(7): 1731-1739. (in Chinese) 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.

[18] Yuan Q K. CAD/CAE/CAM technology[M]. Beijing: Publishing House of Electronics Industry, 2010: 26-30. (in Chinese) 袁清珂. CAD/CAE/CAM技术[M]. 北京: 电子工业出版社, 2010: 26-30.

[19] Shirinzadeh B, Cassidy G, Oetomo D, et al. Trajectory generation for open-contoured structures in robotic fibre placement[J]. Robotics and Computer-Integrated Manufacturing, 2007, 23(4): 380-394.

Robotic Fiber Placement Trajectory Planning Based on CATIA CNC Machining Path

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 15

Recommended Articles

Metrics

Comments

[1]	Qilei GUO, Weimin SANG, Junjie NIU, Ye YUAN. UAV flight strategy considering icing risk under complex meteorological conditions [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(1): 627518-627518.
[2]	SUN Yang, CHANG Min, BAI Junqiang. Trajectory planning and control for micro-quadrotor perching on vertical surface [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(9): 325756-325756.
[3]	RAN Qingbo, XIAO Hong, YANG Fuhong, DUAN Yugang. Trajectory planning algorithm for automatic wire laying on perforated surface [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(9): 425602-425602.
[4]	XIE Hua, LI Zihong, YANG Lei, ZHU Yongwen, LIU Fangzi. Optimization of four-dimensional trajectory of city pair with limited capacity [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(8): 325581-325581.
[5]	LIU Zhan, ZHANG Jun, YIN Jia, ZHAO Wanhua. On-machine detection of geometric and state parameters of end mills based on machine vision [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(7): 425593-425593.
[6]	WAN Aoshuang. Probabilistic assessment on damage tolerance of composite helicopter horizontal tail structure [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(6): 525557-525557.
[7]	WU Baohai, ZHANG Yang, ZHENG Zhiyang, ZHANG Ying, ZHANG Siqi. Review and prospects of feedrate optimization in CNC machining [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(4): 525467-525467.
[8]	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.
[9]	XU Guangtong, WANG Zhu, CAO Yan, SUN Jingliang, LONG Teng. Dynamic-priority-decoupled UAV swarm trajectory planning using distributed sequential convex programming [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(2): 325059-325059.
[10]	LI Yuhui, ZHAO Min, CHEN Qi, YAO Min, HE Ziyang. Combined trajectory planning of parafoil systems in complex environments [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(6): 324566-324566.
[11]	ZHANG Junrui, ZHENG Xitao, YUAN Lin, ZHONG Guiyong, LI Guochen. Fatigue life prediction method for hybrid multi-bolted joints based on damage weight [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(5): 524306-524306.
[12]	SUN Hao, SUN Qinglin, TENG Haishan, ZHOU Peng, CHEN Zengqiang. Trajectory planning for parafoil system considering dynamic constraints in complicated environment [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(3): 324301-324301.
[13]	YANG Lei, LI Wenbo, LIU Fangzi, CHEN Yutong, ZHAO Zheng. Multi-objective optimization of continuous descending trajectories in flexible airspace [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(2): 324157-324157.
[14]	LIU Zhe, LU Haoran, ZHENG Wei, WEN Guoguang, WANG Yidi, ZHOU Xiang. Rapid time-coordination trajectory planning method for multi-glide vehicles [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(11): 524497-524497.
[15]	DENG Yunshan, XIA Yuanqing, SUN Zhongqi, SHEN Ganghui. Autonomous trajectory planning method for Mars precise landing in disturbed environment [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(11): 524834-524834.