ACTA AERONAUTICAET ASTRONAUTICA SINICA >
Analysis and optimization for self-motion manifolds of redundant fiber placement manipulator
Received date: 2016-01-31
Revised date: 2016-04-26
Online published: 2016-05-30
Supported by
National Natural Science Foundation of China (51175261); National Basic Research Program of China (2014CB046501); Specialized Research Fund for the Doctoral Program of Higher Education of China (20123218110020)
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
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 . DOI: 10.7527/S1000-6893.2016.0132
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