| 缠绕机器人CAD/CAM系统设计及应用 |
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| 引用本文： | 许家忠,刘美军,孙栋. 缠绕机器人CAD/CAM系统设计及应用[J]. 中国机械工程, 2019, 30(12): 1416 |
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| 作者姓名： | 许家忠 刘美军 孙栋 |
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| 作者单位： | 1.哈尔滨理工大学自动化学院，哈尔滨，1500802.哈尔滨理工大学机械动力工程学院，哈尔滨，150080 |
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| 基金项目： | 国家重点基础研究发展计划（973计划）资助项目（2017YFD0600802）；黑龙江省教育厅省属高核科技成果研发、培育项目（TSTAU-R2018002） |
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| 摘 要： | 针对复杂异形复合材料制品纤维缠绕成形装备缠绕不适应的问题，研究了基于工业机器人的纤维缠绕CAD/CAM系统。采用局部曲面缠绕法，对复杂异形复合材料制品进行了缠绕线型设计。基于机器人关节轨迹高阶多项式规划法，对多种运动形式的机器人缠绕轨迹进行规划，开发了一套可实现异形件缠绕线型设计、缠绕轨迹规划、可执行代码文件自动生成及缠绕设计过程可视化的机器人缠绕CAD/CAM系统。组合回转体缠绕实验验证了该系统的实用性。
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| 关 键 词： | 纤维缠绕 机器人 CAD/CAM 曲面拟合 速度规划 |
Design and Applications of Robotic Filament Winding CAD/CAM System |
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| XU Jiazhong,LIU Meijun,SUN Dong. Design and Applications of Robotic Filament Winding CAD/CAM System[J]. China Mechanical Engineering, 2019, 30(12): 1416 |
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| Authors: | XU Jiazhong LIU Meijun SUN Dong |
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| Affiliation: | 1.School of Automation, Harbin University of Science and Technology, Harbin, 1500802.School of Mechanical & Power Engineering, Harbin University of Science and Technology, Harbin, 150080 |
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| Abstract: | Aiming at the problems that traditional winding machine was not fit for complex allotypic components filament winding, a filament winding CAD/CAM system was developed based on industrial robots. A local surface winding method was adopted to the filament winding pattern design of allotypic components. Based on the high order polynomial planning method for robot joint trajectory, the winding path of the robot with various motion forms was planned. One set of robotic filament CAD/CAM system was developed to realize pattern design of filament winding for allotypic component, filament winding path planning, automatic implementation of code file, and winding design process visualization. Winding test of the combined revolution verified the practicality of the system. |
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| Keywords: | filament winding robot CAD/CAM surface fitting velocity planning |
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