Abstract
为提升自动铺放装备工作效率并提高铺丝机工作的灵活度，对双机器人协同的类转体构件铺丝成型技术进行研究，提出了一个满足协调约束的轨迹预选机制。在确定了双机器人横向移动的配合方案后，以机器人平台可达空间的限制作为约束条件，通过夹角控制对铺丝轨迹进行配对编码并验证。同时得到完整模具的轨迹分配方案，将CAD软件生成的铺放信息转化成机器人角度的加工文件。文中模型证明所提方法满足大型类回转体构件铺放生产的工艺要求，大大提高了铺放效率。 In order to improve the rate and kinematic dexterity of automated fiber placement system tech-nology, a dual-robot collaborative placement of similar rotation component is studied, and the method of primary trajectory that fits the constraints of coordination is put forward. After deter-mination of the matching scheme for the longitudinal feed of the robot, the AFP trajectory is paired by the Angle control, under the constraint of the robot platform’s full reachable workspace. At the same time, the track distribution scheme of the complete mould is obtained, and the information generated by CAD software is transformed into the machining document of robot Angle. This paper proves that the proposed method meets the process requirements of the production of large class gyro member, which greatly improves the laying efficiency.
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