缠绕机器人CAD/CAM系统设计及应用

摘要/Abstract

摘要： 针对复杂异形复合材料制品纤维缠绕成形装备缠绕不适应的问题，研究了基于工业机器人的纤维缠绕CAD/CAM系统。采用局部曲面缠绕法，对复杂异形复合材料制品进行了缠绕线型设计。基于机器人关节轨迹高阶多项式规划法，对多种运动形式的机器人缠绕轨迹进行规划，开发了一套可实现异形件缠绕线型设计、缠绕轨迹规划、可执行代码文件自动生成及缠绕设计过程可视化的机器人缠绕CAD/CAM系统。组合回转体缠绕实验验证了该系统的实用性。

关键词: 纤维缠绕, 机器人, CAD/CAM, 曲面拟合, 速度规划

Abstract: Aiming at the problems that traditional winding machine was not fit for complex allotypic components filament winding, a filament winding CAD/CAM system was developed based on industrial robots. A local surface winding method was adopted to the filament winding pattern design of allotypic components. Based on the high order polynomial planning method for robot joint trajectory, the winding path of the robot with various motion forms was planned. One set of robotic filament CAD/CAM system was developed to realize pattern design of filament winding for allotypic component, filament winding path planning, automatic implementation of code file, and winding design process visualization. Winding test of the combined revolution verified the practicality of the system.

Key words: filament winding, robot, CAD/CAM, surface fitting, velocity planning

中图分类号:

TP429

许家忠1;刘美军1，2;孙栋1. 缠绕机器人CAD/CAM系统设计及应用[J]. 中国机械工程.

XU Jiazhong1;LIU Meijun1，2;SUN Dong1. Design and Applications of Robotic Filament Winding CAD/CAM System[J]. China Mechanical Engineering.

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