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

在已知被铺放芯模和芯模铺放纤维轨迹的基础上,对数控铺放设备的后置处理算法进行了研究。通过铺放设备运动过程的分析,将这种冗余度机器人的七个关节分两个部分处理:主轴关节部分和机械手臂部分。运用机器人学相关原理建立杆件坐标系,通过机器人运动学的正解和逆解,得到了机械手臂六关节变量的解。提出利用投影向量法判断铺放螺旋轨迹方向。同时为了实现铺放过程的运动仿真,系统阐述了铺放轨迹的前期处理方法。分析了铺放头角度参数和位置参数的关系及铺放头角度参数的合理范围。最后通过铺放运动过程仿真,证明了所提出的后置处理算法和轨迹数据前期处理方法的正确性。

Post Processing Technology for Fiber Placement Machine of Manipulator Terminal Motion Trajectory

Based upon mandrel and the known placement path,post-processing algorithm of fiber placement equipment was studied in this paper.By analyzing the movement of placement machine,seven joints of this kind of redundant robot was separated into two components: spindle joint and mechanical arm.The solutions of mechanical arm six-joint variables were derived by Building coordinate system by robotic interrelated principle according to kinematics forward and reverse solution of robot.Discriminating placement trajectory spiral direction by the method of vector projection was proposed.At the same time,the preprocessing method of placement trajectory was presented systematically to realize moving simulation of placement process.Relationships between placement head angle parameter and position parameter,and reasonable range of placement head angle parameter were analyzed systematically.In order to achieve placement simulation results of placement procession,preprocessing method for the placement trajectory was described.Finally,the validity of post-processing algorithm and preprocessing method for the placemen trajectory was tested and verified through placement process simulation.