【摘要】 目的 针对复合材料丢层结构的特点，对自动铺放工艺的轨迹规划进行研究。方法 首先基于CATIA平台对复合材料丢层结构进行了详细的结构建模与设计，分析了丢层区域的几何特征及其对铺层轨迹生成的影响。针对丢层铺层面的形状复杂性，提出了一种结合铺层面填充、轨迹生成与轨迹投影的综合轨迹规划方法。该方法通过铺层填充策略，确保了轨迹在复杂区域内的覆盖完整性，最后采用几何投影对丢层区域进行路径划分。在实验部分，利用搭建的自动铺放平台对典型丢层结构样件进行了铺放验证。结果 采用所提出的方法能够高效生成适应丢层结构特征的铺放轨迹，在不考虑非工艺因素的情况下，轨迹精度和铺放质量均达到较高水平。结论 为实际工程中处理类似丢层复杂结构的轨迹规划提供了理论和技术支持。更多还原

【Abstract】 The work aims to conduct a trajectory planning research for automated fiber placement(AFP) according to the unique characteristics of composite ply drop-off structures. First, detailed structural modeling and design of composite ply drop-off structures were performed using the CATIA platform, with an emphasis on analyzing the geometric features of drop-off regions and their impact on ply trajectory generation. To address the shape complexity of ply drop-off surfaces, a comprehensive trajectory planning methodology integrating ply surface filling, trajectory generation, and geometric projection was proposed. This approach ensured coverage integrity in complex regions through a filling strategy, followed by geometric projection-based path partitioning for drop-off zones. Experimental validation was carried out using a laboratory-developed AFP platform to fabricate representative ply drop-off structural specimens. Experimental results demonstrated that the proposed method could efficiently generate placement trajectories adapted to the characteristics of ply drop-off structures. When non-process factors are excluded, both trajectory accuracy and placement quality reach a high level. This study provides theoretical and technical support for trajectory planning in practical engineering applications involving similar complex ply drop-off structures.更多还原