本文選題：纖維鋪絲 + 機(jī)械手　； 參考：《武漢理工大學(xué)》2012年碩士論文

【摘要】：本文詳細(xì)討論了大曲率復(fù)雜型面構(gòu)件的復(fù)合材料鋪絲成型技術(shù)。在已有的對(duì)復(fù)合材料構(gòu)件結(jié)構(gòu)及鋪放工藝、鋪層設(shè)計(jì)研究的基礎(chǔ)上,針對(duì)該類構(gòu)件鋪放型面曲率大、跨度大、變截面的特點(diǎn),本文提出了利用六軸機(jī)械手加旋轉(zhuǎn)主軸的多路鋪絲工藝來解決變截面、跨度大以及型面復(fù)雜的問題。由于構(gòu)件體積大從而導(dǎo)致鋪絲路徑復(fù)雜且要處理的數(shù)據(jù)量大,本文提出用45。輔助平面與分割曲線求交的方法迭代逐一求解鋪絲點(diǎn),然后通過三次樣條曲線擬合各鋪絲點(diǎn)從而求得鋪絲路徑,接下提出了一種有效可行的多絲束切絲算法,并將其與鋪絲信息集成,以借助CAD技術(shù)的優(yōu)勢(shì)將鋪絲過程中復(fù)雜的運(yùn)動(dòng)控制問題集中在各鋪絲點(diǎn)上,將這些信息集中存儲(chǔ)調(diào)用,避開對(duì)鋪放路徑的討論,以簡(jiǎn)化路徑規(guī)劃方法和后續(xù)的運(yùn)動(dòng)控制問題。 在經(jīng)過前期鋪絲路徑規(guī)劃得到鋪絲點(diǎn)的歐拉角、位置矢量以及切絲絲數(shù)等信息的前提下,在運(yùn)動(dòng)控制的具體實(shí)現(xiàn)方法上,基于本文討論的鋪絲結(jié)構(gòu)存在冗余自由度,提出了將鋪放終端的運(yùn)動(dòng)鎖定在某一鋪放平面內(nèi),通過機(jī)械手和主軸的協(xié)調(diào)運(yùn)動(dòng)使兩者最終的合成運(yùn)動(dòng)軌跡與規(guī)劃的路徑保持一致。在運(yùn)動(dòng)信息的處理問題上,本文提出運(yùn)動(dòng)控制的實(shí)現(xiàn)集中于鋪絲點(diǎn)和鋪絲點(diǎn)間的聯(lián)系上,將鋪絲點(diǎn)作為運(yùn)動(dòng)控制信息的集合點(diǎn),只需滿足鋪絲點(diǎn)及鋪絲點(diǎn)間相互聯(lián)系的要求,而忽略路徑問題,使鋪放運(yùn)動(dòng)的控制問題得到簡(jiǎn)化。此后,詳細(xì)討論了由已求得的接近矢量求解各關(guān)節(jié)轉(zhuǎn)角和主軸轉(zhuǎn)角的方法以及控制實(shí)現(xiàn)方法,為鋪絲運(yùn)動(dòng)控制的工程應(yīng)用提供了有效可行的途徑。 本文采用IPC+PMAC的開放式控制結(jié)構(gòu),并搭建了簡(jiǎn)易的硬件控制平臺(tái)對(duì)提出的方法進(jìn)行驗(yàn)證。最后,結(jié)合鋪放裝備的發(fā)展方向,提出了通過開發(fā)基于Windows的鋪放應(yīng)用程序模塊的設(shè)計(jì)方法來解決鋪絲當(dāng)中處理的數(shù)據(jù)量大、運(yùn)動(dòng)控制復(fù)雜等問題,利用鋪放應(yīng)用程序來處理鋪放前期的鋪放點(diǎn)信息以及切絲等問題,而由PMAC來完成后期的機(jī)械手運(yùn)動(dòng)控制,為纖維鋪絲機(jī)械手運(yùn)動(dòng)軌跡控制的工程應(yīng)用提供了方案,并開發(fā)了用于機(jī)械手運(yùn)動(dòng)軌跡控制的軟件模塊,該模塊能夠?qū)崿F(xiàn)預(yù)期的功能,并且具有開發(fā)周期短、擴(kuò)展升級(jí)簡(jiǎn)單的優(yōu)點(diǎn)。最后通過簡(jiǎn)易的試驗(yàn)進(jìn)行驗(yàn)證證明了方案可行性。
[Abstract]:In this paper, the forming technology of composite wire laying for large curvature complex surface member is discussed in detail. On the basis of the existing research on composite component structure and laying process and layer design, aiming at the characteristics of large curvature, large span and variable cross-section of this kind of members, In this paper, a multiplex wire laying process with six-axis manipulator and rotating spindle is proposed to solve the problems of variable cross-section, large span and complex shape surface. Due to the large size of the component, which leads to the complexity of the laying path and the large amount of data to be processed, this paper proposes to use 45. 5%. The method of intersecting the auxiliary plane and the partition curve iteratively solves the wire laying points one by one, and then through the cubic spline curve fitting each thread laying point to obtain the laying path, and then puts forward an effective and feasible multi-filament bundle cutting algorithm. By integrating it with the information of wire laying, the complex motion control problems in the process of laying wire can be concentrated on each wire laying point by virtue of the advantage of CAD technology, and the information can be stored and transferred centrally, so as to avoid the discussion of laying path. In order to simplify the path planning method and the subsequent motion control problem. On the premise of obtaining the information of Euler angle, position vector and filaments number of the wire laying point after the pre-laying path planning, there is redundancy degree of freedom in the motion control method based on the wire laying structure discussed in this paper. It is proposed that the motion of the placement terminal is locked in a certain laying plane, and the final synthetic motion trajectory of the manipulator and the spindle are consistent with the planned path through the coordinated motion of the manipulator and the spindle. On the problem of motion information processing, this paper puts forward that the realization of motion control is focused on the connection between wire laying point and wire laying point, and the thread laying point is regarded as the gathering point of motion control information, which only needs to meet the requirements of wire laying point and the interrelation between wire laying points. The control problem of laying motion is simplified by ignoring the path problem. After that, the method of solving the joint angle and spindle angle from the obtained approach vector and the control method are discussed in detail, which provides an effective and feasible way for the engineering application of wire-laying motion control. In this paper, the open control structure of IPC PMAC is adopted, and a simple hardware control platform is built to verify the proposed method. Finally, combined with the development direction of laying equipment, the paper puts forward a design method to solve the problems of large amount of data and complex motion control in laying wire by developing the application module based on Windows. The application program is used to deal with the information of laying point in the early stage of laying and the problem of cutting silk, while PMAC is used to complete the motion control of the manipulator in the later stage, which provides a scheme for the engineering application of the motion trajectory control of the fiber laying manipulator. A software module for manipulator trajectory control is developed. The module can realize the expected function and has the advantages of short development period and simple expansion and upgrade. Finally, the feasibility of the scheme is proved by simple test.
【學(xué)位授予單位】：武漢理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2012
【分類號(hào)】：TH164

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