Research on preprocessing of winding trajectory of composite type IV pressure vessel based on robot

Abstract

Herein, a smooth preprocessing method of robotic end-effector trajectory, based on Nurbs curve is proposed for obtaining the complete and stable envelope trajectory of the robot. Initially, the winding pattern of pressure vessel based on non-geodesic is deduced, followed by positioning of yarn point based on doffing point distribution and preprocessing of the trajectory through Nurbs curve. Variation trend and stationarity of velocity and acceleration in carriage and cross-carriage directions in Cartesian coordinate system are analyzed. Finally, the winding experiment of type IV pressure vessel is wound with the robotic winding workstation. Results show that the fiber winding can be carried out stably by the end of the robot. The realtime movement curve of the robot is consistent with the simulation curve, and the pressure liner is completely covered without yarn sliding and overhead problems, verifying the feasibility of the as-reported preprocessing method.