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Calculation of the robot trajectory for the optimum directional orientation of fibre placement in the manufacture of composite profile frames |
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| Affiliation: | 1. Technical University of Liberec, Institute for Nanomaterials, Advanced Technologies and Innovation, Liberec 1, 461 17 Studentská 2, Czech Republic;2. Technical University of Liberec, Department of Mathematics, FP, Liberec 1, 461 17, Studentská 2, Czech Republic;1. State Key Laboratory of Fluid Power and Mechanical Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China;2. Key Laboratory of Advanced Manufacturing Technology of Zhejiang Province, School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China;3. Shanghai Spaceflight Precision Machinery Institute, Shanghai, 201600, China;1. Department of Civil and Mechanical Engineering, University of Cassino and Southern Lazio, via G. Di Biasio 43, 03043 Cassino (FR), Italy;2. Department of Astronautic, Electrical and Energy Engineering, Sapienza University of Rome, via Eudossiana 18, 00184 Rome, Italy;3. Department of Mechanical and Aerospace Engineering, Sapienza University of Rome, via Eudossiana 18, 00184 Rome, Italy;1. Department of Civil and Mechanical Engineering, University of Cassino and Southern Lazio, via G. Di Biasio, 43, 03043 Cassino, Italy;2. Leonardo Helicopters, Via G. Agusta, 520, 21017 Cascina Costa di Samarate, Italy;3. Department of Chemical, Materials and Production Engineering, University of Naples Federico II, Piazzale V. Tecchio 80, 80125 Napoli, Italy |
| Abstract: | This article deals with theissue of calculating the trajectory of the end-effector of an industrial robot in the manufacture of composites. In the introduction to the article we describe the basic approaches used in the manufacture of composites. Robots are used to define the winding orientation of carbon fibre strands on an uneven polyurethane 3D core. The core is attached to the robot-end-effector and is led through a fibre-processing head according to a suitably defined robot trajectory during dry carbon fibre winding on the core. The model of a passage of the polyurethane core through a fibre-processing head is described in the article. The placement of the fibre-processing head is defined in the basic Euclidean coordinate system E3 of the robot. The core is specified in the local coordinates of the Euclidean coordinate system E3, the origin of this local system is in the robot-end-effector. The positioning of the local system in the basic system of the robot is entered using the “tool centre point” of the robot. A matrix calculus is used when calculating the trajectory robot-end-effector to determine the desired passage of the core through the fibre-processing head. Gradually, the required rotation and translation matrices of the local coordinate system of the robot-end-effector relative to the basic system are calculated and subsequently the Euler angles of rotation are determined corresponding to the transformation matrices. This is used to determine the sequence of values of the “tool centre point” for defining the desired trajectory of the robot-end-effector. The calculation for the trajectory was programmed in the Delphi development environment. The article also solves practical tasks of the polyurethane core passage through the fibre-processing head. The calculations of the trajectory of the robot-end-effector were used as input values for the graphic software simulator and at the same time winding of carbon strands on the polyurethane core was verified for the calculated trajectory of the robot-end-effector in the experimental laboratory. |
| Keywords: | Robot trajectory planning and control Direct kinematics Matrix calculus Euler angles of rotation Composite manufacturing Filament winding Fibre winding |
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