On The Development Of A Filament Winding Robotic System
28TH INTERNATIONAL CONFERENCE ON FLEXIBLE AUTOMATION AND INTELLIGENT MANUFACTURING (FAIM2018): GLOBAL INTEGRATION OF INTELLIGENT MANUFACTURING AND SMART INDUSTRY FOR GOOD OF HUMANITY(2018)
摘要
This paper reports on the design, manufacture, control and implementation of a robotic head for filament winding, typically carbon, glass etc. employed in shell-like part manufacturing with composite materials. The head is attached to a 6 axis industrial robot collaborating with a rotary axis on which a die is secured. Concept development and preliminary study of the head and its assembly on the robot were performed on a CAD system with motion analysis. Two alternative winding heads were studied and the one with embedded filament tension control was implemented. The winding path is planned by exploiting CAD-based kinematic simulation or analytical calculation. Control of the system was performed using the robot's inbuilt capabilities via programming in V+ language interfaced with a micro-processor controlling die rotation according to the open loop paradigm. Cylindrical and conical winding were successfully performed paving the way for expansion to non-symmetrical winding patterns. (C) 2018 The Authors. Published by Elsevier B.V.
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关键词
filament winding, robot, path planning, tension, motion control, kinematic simulation
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