基于变胞原理的自动铺丝头机构设计与仿真

Mechanism Design and Simulation for Automated Fiber Placement Head Based on Metamorphic Theory

提出一种单原动件驱动的自动铺丝头内部机构设计方法,分析了自动铺放系统中自动铺丝头机构设计要求;基于变胞机构原理,提出一种同时利用约束力与几何极限的铺丝头变胞单元。构建了单驱动自动铺丝头完整并联机构,根据铺丝头不同工作阶段分析了机构的变拓扑工作原理;建立了铺丝头机构运动学模型,表征单驱动铺丝头运动学性能;构建仿真模型,仿真结果表明,该机构可在单原动件驱动下实现自动铺丝头铺放运动输出,验证了单驱动变胞铺丝头机构的可行性。

A single-drive internal mechanism for automated fiber placement head is proposed. The design requirements of the automated fiber placement head mechanism are analyzed,based on metamorphic theory,a metamorphic unit for the placement head that simultaneously uses the binding force and the geometric limit is proposed. A single-drive automated fiber placement head parallel mechanism was constructed,and the mechanism of variable topology was analyzed according to its different working stages. The kinematics model of the mechanism was established and corresponding simulation model was constructed. Results from simulation demonstrate that the single-drive mechanism can effectively realize a stable operation.