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基于机器人的复合材料缠绕不同缠绕策略会对缠绕工艺及机器人运动稳定性产生影响,为获得使机器人运动稳定性更优的缠绕策略,研究了6自由度工业机器人的复合材料缠绕工作站,单独分析了包络形式、悬纱长度以及测地线/非测地线缠绕等参数对缠绕工艺及机器人运动稳定性的变化参数的影响,采用MATLAB进行不同缠绕策略的机器人缠绕轨迹计算,确定规划后的缠绕轨迹,基于ADAMS和MATLAB进行机器人缠绕动力学联合仿真,获取机器人各关节力矩曲线,分析规划后的缠绕轨迹对机器人运动稳定性的影响。进行了复合材料制品干纤维缠绕实验,缠绕实验表明:采用优化后的缠绕策略进行复合材料制品缠绕时缠绕线型稳定,缠绕过程无滑纱、交叠、架空等现象,缠绕精度完全满足设计要求。
Robot winding process based on different composite materials will affect the winding process and the stability of the robot. In order to obtain a better winding stability of the robot, a 6 DOF industrial robotic composite winding station is studied and analyzed separately The envelope shape, the length of the suspended yarn and the geodesic / non-geodesic winding on the parameters of the winding process and the stability of the robot were analyzed. By using MATLAB, the winding path of the robot with different winding strategies was calculated and the planned winding Trajectory, the co-simulation of robot winding dynamics based on ADAMS and MATLAB to obtain the torque curve of each joint of the robot, and analyze the influence of the planned winding trajectory on the robot motion stability. The experiments on the entanglement of composite fiber were carried out. The results of the winding experiments showed that the wrapped filament was stable when the composite material was wound by the optimized winding strategy. There was no slip, overlap and overhead in the winding process. The winding accuracy satisfied the design requirement .