圆筒状构件的多层铺丝路径生成算法

Trajectory Generation for Cylindrical Structures in Robotic Multi-fiber Placement

提出一种将空间曲线投影在芯模曲面上生成铺丝路径的方法以用于成型圆筒状复合材料构件。首先,在芯模外侧创建与铺丝路径相对应的特定曲线,然后将曲线按特定方向投影在指定的偏置曲面上,形成初始路径。为了使路径轨迹覆盖整个曲面,给出路径在曲面上的等距偏移方法。另外,对路径偏移中出现的缝隙给出了填补方法,并使偏移后的路径轨迹延伸至曲面边界。通过对飞机机身类构件建模和铺放模拟,检验了本文算法的正确性。与其他方法相比较,该算法推导出了明确统一的路径公式,可用于生成铺丝轨迹;由于是基于多层曲面上的路径生成,因此可用于构件的最终成型。

The projection of a space curve on the surface of a cylindrical componenet is used as the composite fiber placement path on this component.First,a specific curve is created around the core module,and then it is projected on to specified surfaces in a particular direction and the projections are taken as initial paths.In order to cover the whole surface with path trajectories,an equidistant offset algorithm is proposed to compute subsequent paths.Furthermore,a method is presented to fill the gaps between paths and extend the endpoints of path trajectory to the surface boundary.The algorithms are verified through fiber placement simulation on a fuselage model.In contrast to other algorithms,this method is able to derive explicit formulas to compute paths and generate path trajectories on all offset surfaces for final component forming.