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Multi-robot fiber placement geodesic line track design method

A trajectory design, multi-robot technology, applied in the direction of instruments, calculations, special data processing applications, etc., can solve the problems of difficult solution of geodesic lines, low efficiency of wire laying, large amount of geodesic trajectory calculations, etc., to achieve It is convenient for programming and software development, improves the efficiency of laying wire, and reduces the amount of calculation.

Pending Publication Date: 2019-11-19
南京康德复合材料有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

There are many methods for automatic wire laying trajectory planning of advanced composite materials. It is difficult to express the general free-form surface with specific expressions, and it is also difficult to solve the geodesic line between any points based on analytical algorithms.
Therefore, the existing wire laying method is complicated in process, and the mathematical method to solve the geodesic trajectory for complex surfaces has a large amount of calculation and low efficiency, which cannot meet the actual engineering needs, is not conducive to program writing and software development, and the wire laying efficiency is not high

Method used

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  • Multi-robot fiber placement geodesic line track design method
  • Multi-robot fiber placement geodesic line track design method
  • Multi-robot fiber placement geodesic line track design method

Examples

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Comparison scheme
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Embodiment 1

[0027] A kind of multi-robot wire laying geodesic trajectory design method provided by the invention comprises the following steps:

[0028] Step 1, take the position of the axial middle section of the member, and randomly take a point on the section;

[0029] Step 2, using this point as the starting point, generate geodesic trajectories to both ends, the angle is generally 0 / 45 / -45 / 90, the 90-degree trajectory mentioned here is an approximate concept, that is, a ring of nearly 90 degrees to the track;

[0030] The invention introduces the grid surface to solve the geodesic line, and carries out track design based on the triangular discrete grid of the surface. In each grid unit, the geodesic curvature of the geodesic on the surface is zero, that is, the plane, and the geodesic on the plane is a straight line, and the geodesic trajectory design algorithm can be easily calculated. Such as figure 1 As shown, at the edge of each grid, set an arbitrary point Q on the free-form ...

Embodiment 2

[0058] The difference from Embodiment 1 is that in step 3 of this example, after the reference trajectory is obtained, the second and third . . . The rest of the steps in this example are the same as in Example 1. The center of gravity line is an example, and other reference lines can also be selected for rotation as required.

Embodiment 3

[0060] The difference between this example and Embodiments 1 and 2 is that in step 1, the position of the axial end of the component is taken to obtain a small line segment with a laying angle in cross-section; Geodesic trajectory. The rest of the steps in this example are the same as in Embodiment 1 or Embodiment 2.

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Abstract

The invention provides a multi-robot fiber placement geodesic line trajectory design method, which is used for trajectory design based on a triangular discrete grid of a curved surface. The method comprises the following steps: taking a point on a component; taking the point as a starting point, and respectively generating geodesic tracks to two ends; taking the current track as a reference track,and respectively obtaining a second track, a third track and the like by circumferentially rotating the track around the axis or the gravity center line; projecting all the trajectories to the surface of the mold to form a coverage trajectory, and completing geodesic line fiber placement trajectory design of the revolved body-like member; converting the track into a mechanical language, and controlling a fiber placement machine to complete the coverage fiber placement forming of the workpart. The multi-robot fiber placement geodesic line track design method provided by the invention is simplein algorithm, effectively reduces the calculation amount, improves the fiber placement efficiency, and is convenient for programming and software development.

Description

technical field [0001] The patent of the present invention relates to the field of automatic forming of carbon fiber composite materials, and specifically relates to a multi-robot laying geodesic track planning and design method. Background technique [0002] The full name of automatic laying technology is automatic tow laying forming technology, also known as fiber laying technology, which is a combination of independent conveying of different tows in winding technology and compaction, cutting, refeeding and other functions of automatic tape laying technology , under the action of the pressure roller, the laying head gathers several tows into a prepreg tape with variable width and lays it on the surface of the mold. There are many methods for automatic wire laying trajectory planning of advanced composite materials. It is difficult to express the general free-form surface with specific expressions, and the geodesic line between any points is also difficult to solve based on...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50B29C70/38
CPCB29C70/382
Inventor 胡文婷
Owner 南京康德复合材料有限公司