Multi-robot fiber placement track fixed angle design method

Abstract

According to a multi-robot fiber placement track fixed angle design method, an out-of-plane reference line is selected, a fixed angle track is generated, the method is based on gridding curved surfacetrack planning, the application range is wide, and the method is not limited by the shape and type of the curved surface; the problem of solving a curve track on a free-form surface is converted intothe problem of solving a straight line track on a micro plane, in addition, track planning is convenient to perform due to selection of a reference line, the track planning difficulty is effectivelyreduced, and the operation efficiency is high; independent trajectory planning software can be developed according to algorithm characteristics, the development cost is low, and algorithm improvementand version upgrading are easy.

Description

technical field [0001] The invention belongs to the technical field of automatic laying and forming of composite materials, and relates to a method for designing a fixed angle of a multi-robot laying track. Background technique [0002] Automatic wire laying technology is one of the automatic forming technologies that have grown rapidly in the era of modern science and technology. It mainly lays the composite fiber prepreg tow on the surface of the mandrel according to a certain laying direction, softens the fiber tow by heating, and finally presses it on the surface of the mandrel by pressing rollers to form it. The core of automatic wire laying technology lies in the planning and design of wire laying path. Although the existing fixed-angle planning methods are different in specific algorithms, they can be divided into two types according to the implementation methods: 1) Analytical method. For surfaces that can be expressed by equations, functions can be derived for plan...

AI Technical Summary

Problems solved by technology

Although the existing fixed-angle planning methods are different in specific algorithms, they can be divided into two types according to the implementation methods: 1) Analytical method. For surfaces that can be expressed by equations, functions can be derived for planning; 2) Two Secondary development method. Based on commercial CAD software for programming and development, the algorithm is integrated into the CAD environment. Among them, the analysis method is fast, high-precision, and small in data volume, but its scope of application is limited; the secondary development method can save software development time and cost. However, the dependence on CAD software is too strong, and the development is difficult

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