【作者】 杨玉岭；

【导师】 安鲁陵；

【作者基本信息】 南京航空航天大学 ， 航空宇航制造工程， 2006， 硕士

【摘要】 自动铺丝技术是在航空航天工业发展起来的一种“低成本,高性能”的先进复合材料自动化制造技术。自动铺丝编程技术是实现铺丝技术自动化的关键技术之一。本文基于南航自行研制的七轴自动铺丝机器人,对自动铺丝编程技术进行深入的研究,并对铺丝仿真技术进行了初步研究。主要研究工作和成果如下:1)对自动铺丝过程进行了分析。从完善铺丝工艺的角度出发,对铺丝过程中的空程以及铺丝的准备过程进行了设计,并通过编程实现了空程和准备过程的铺丝控制信息求解算法。对铺丝过程中芯模的旋转进行了研究,给出了芯模正确旋转方向的判定方法。以穿轴线为基准,实现了铺丝几何信息从设计坐标系向主轴坐标系的变换。2)改进了铺丝逆运动学求解,提出了基于铺丝离散点位置的逆运动学求解方法,保证了铺放复杂形状芯模时铺丝实际路径与设计路径的一致性,从而提高了铺丝质量。3)完善了铺丝控制信息的求解。解决了材料裁剪中的剪丝、送丝和压丝的逻辑配合问题,并考虑铺丝提前量等因素,实现了机构运动信息和裁剪信息的协调与集成。4)研究实现了铺丝过程碰撞干涉检测功能,开发了铺丝过程动态仿真模块,以某飞机S型进气道为对象进行了验证,证明了以上各工作的正确和有效性。更多还原

【Abstract】 Automatic fiber placement is a sort of automatic manufacture technology which was raised first at the field of aeronautics and astronautics, and through it, the low-cost and high-quality advanced composite material can be produced. The technology isn’t developed in our country until the latest several years and there is a big difference between our country and others on it. The Programme is one of most important technique automating fiber placement. Based on 7-axis robot for auto composite fiber placement which is designed by Naming University of Aeronautics and Astronautics, the programme technology is further studied and the simulation technology for fiber placement is explored in the thesis. The primary work and achievements are as follows:1) The process of fiber placement is analyzed. For perfecting the placement techniques, the return and preparative processes of the robot’s arm are designed and the algorithm attaining their control information is realized by program. The question on how to rotate the core model is studied and the relevant method is put forward. The method to transfer that geometrical information from the design reference frame to the principal axis ones is realized based on the trans-core line.2) The course to resolve the inverse kinematics is improved. The inverse kinematics method based on those dispersed placement positions is raised. This new method can ensure that the real fiber route matches up to the designed ones while improving the quality of placement.3) The course is perfected to attain those control information for placement. Those logical relations are done well among cutting、feeding and pressing. And the work is done based on the advanced length of the fibers to match the athletic and cutting-out information and unite them.4) The inspection method to the collision and interference during the placement course is studied and realized .The function module of dynamic simulation to the placement course is developed. At last, the placement information building on S-inlet of certain aircraft is checked by that inspection method and validated by real robot. The ultimate result verifies legitimacy and availability of all work.更多还原