纤维铺丝机械手运动轨迹控制的研究
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摘要
本文详细讨论了大曲率复杂型面构件的复合材料铺丝成型技术。在已有的对复合材料构件结构及铺放工艺、铺层设计研究的基础上,针对该类构件铺放型面曲率大、跨度大、变截面的特点,本文提出了利用六轴机械手加旋转主轴的多路铺丝工艺来解决变截面、跨度大以及型面复杂的问题。由于构件体积大从而导致铺丝路径复杂且要处理的数据量大,本文提出用45。辅助平面与分割曲线求交的方法迭代逐一求解铺丝点,然后通过三次样条曲线拟合各铺丝点从而求得铺丝路径,接下提出了一种有效可行的多丝束切丝算法,并将其与铺丝信息集成,以借助CAD技术的优势将铺丝过程中复杂的运动控制问题集中在各铺丝点上,将这些信息集中存储调用,避开对铺放路径的讨论,以简化路径规划方法和后续的运动控制问题。
在经过前期铺丝路径规划得到铺丝点的欧拉角、位置矢量以及切丝丝数等信息的前提下,在运动控制的具体实现方法上,基于本文讨论的铺丝结构存在冗余自由度,提出了将铺放终端的运动锁定在某一铺放平面内,通过机械手和主轴的协调运动使两者最终的合成运动轨迹与规划的路径保持一致。在运动信息的处理问题上,本文提出运动控制的实现集中于铺丝点和铺丝点间的联系上,将铺丝点作为运动控制信息的集合点,只需满足铺丝点及铺丝点间相互联系的要求,而忽略路径问题,使铺放运动的控制问题得到简化。此后,详细讨论了由已求得的接近矢量求解各关节转角和主轴转角的方法以及控制实现方法,为铺丝运动控制的工程应用提供了有效可行的途径。
本文采用IPC+PMAC的开放式控制结构,并搭建了简易的硬件控制平台对提出的方法进行验证。最后,结合铺放装备的发展方向,提出了通过开发基于Windows的铺放应用程序模块的设计方法来解决铺丝当中处理的数据量大、运动控制复杂等问题,利用铺放应用程序来处理铺放前期的铺放点信息以及切丝等问题,而由PMAC来完成后期的机械手运动控制,为纤维铺丝机械手运动轨迹控制的工程应用提供了方案,并开发了用于机械手运动轨迹控制的软件模块,该模块能够实现预期的功能,并且具有开发周期短、扩展升级简单的优点。最后通过简易的试验进行验证证明了方案可行性。
It is discussed the great curvature component's compound materials fiber placement formation technology in detail in this article. Based on the existed research of the component's structure,fiber placement craft and design of fiber placement layer,In view of the characteristic of component profile's great curvature,great,the big length and the variable cross-section, using the structural of six-axis manipulators with revolving principal axis and multi-channel fiber placement craft to solve the proplem of the variable cross-section, the great length as well as profile complex is proposed by this article. Because of the component's great volume, there is complex placement path and big data quantity needed to be processed,the method of iteration to calculate the fiber placement points of intersection of45°the auxiliary plane and the division curve one by one is proposed by this article, and then the fiber placement path is obtainsed by fitsed various fiber placement points through three spline curves. One kind of effective and feasible algorithm of cutting silks is proposed, and they are integrated with the silk cutting information so as to use the superiority of the CAD technology to forcus the proplem of complex motion control on all the fiber placement points in the process, these information will be memoried and transferred centralism to avoids the discussion of fiber placement, simplifing the way of path planing and the following proplem of motion control.
It is obtained the information such as the Euler angles, the position vector as well as cutting silk information through the preliminary period fiber placement path planning, On the way of the realization of motion control in specifically, It is existed redundant degree-of-freedom based on the fiber placement structure discussed by this article,It is proposed that the terminal of the fiber placement head should be locked in the fiber placement plane, It is coordinated the motion of the manipulator and the principal axis to make the final resultant motion path consistent with the planning path. On problem of the movement information's processing, It is proposed by this article that the realization of motion control should be concentrated on placement points and the relationship between placement points.The placement points should be seen as the assembly point of information,It is only needed to satisfy the placement points and the mutual connection between placement points and neglect the planning path to make the realization of motion trajectory simply. Hereafter,it is discussed in detail the way of calculating the joints corner and the principal axis corner by close vector as well as the realization method of control,It has provided the effective and feasible way for the project application of fiber placement motion control.
It is used the open style control structure of IPC+PMAC,the hardware control platform is built to confirme method proposed by this article. Finally, to consistent with of development direction of the equipment,It is proposed that placement application program module based on Windows should be design to solve the problem of the quantity data and the complex of motion control needed to copy with in the processes of placement, the application is used to copy with the proplem of the information of placement points and silk cutting and so on in the earlier period of fiber placement, The PMAC is used to completes manipulator motion control later period,It provide the project application plan for the control of manipulator trajectory, the software module is developed for the manipulator path control in reaserch, this module could realize the anticipated function and has the advantage of short development cycle, simple for promoted. Finally it is proved that the plan is feasibility through the simple experiment.
在经过前期铺丝路径规划得到铺丝点的欧拉角、位置矢量以及切丝丝数等信息的前提下,在运动控制的具体实现方法上,基于本文讨论的铺丝结构存在冗余自由度,提出了将铺放终端的运动锁定在某一铺放平面内,通过机械手和主轴的协调运动使两者最终的合成运动轨迹与规划的路径保持一致。在运动信息的处理问题上,本文提出运动控制的实现集中于铺丝点和铺丝点间的联系上,将铺丝点作为运动控制信息的集合点,只需满足铺丝点及铺丝点间相互联系的要求,而忽略路径问题,使铺放运动的控制问题得到简化。此后,详细讨论了由已求得的接近矢量求解各关节转角和主轴转角的方法以及控制实现方法,为铺丝运动控制的工程应用提供了有效可行的途径。
本文采用IPC+PMAC的开放式控制结构,并搭建了简易的硬件控制平台对提出的方法进行验证。最后,结合铺放装备的发展方向,提出了通过开发基于Windows的铺放应用程序模块的设计方法来解决铺丝当中处理的数据量大、运动控制复杂等问题,利用铺放应用程序来处理铺放前期的铺放点信息以及切丝等问题,而由PMAC来完成后期的机械手运动控制,为纤维铺丝机械手运动轨迹控制的工程应用提供了方案,并开发了用于机械手运动轨迹控制的软件模块,该模块能够实现预期的功能,并且具有开发周期短、扩展升级简单的优点。最后通过简易的试验进行验证证明了方案可行性。
It is discussed the great curvature component's compound materials fiber placement formation technology in detail in this article. Based on the existed research of the component's structure,fiber placement craft and design of fiber placement layer,In view of the characteristic of component profile's great curvature,great,the big length and the variable cross-section, using the structural of six-axis manipulators with revolving principal axis and multi-channel fiber placement craft to solve the proplem of the variable cross-section, the great length as well as profile complex is proposed by this article. Because of the component's great volume, there is complex placement path and big data quantity needed to be processed,the method of iteration to calculate the fiber placement points of intersection of45°the auxiliary plane and the division curve one by one is proposed by this article, and then the fiber placement path is obtainsed by fitsed various fiber placement points through three spline curves. One kind of effective and feasible algorithm of cutting silks is proposed, and they are integrated with the silk cutting information so as to use the superiority of the CAD technology to forcus the proplem of complex motion control on all the fiber placement points in the process, these information will be memoried and transferred centralism to avoids the discussion of fiber placement, simplifing the way of path planing and the following proplem of motion control.
It is obtained the information such as the Euler angles, the position vector as well as cutting silk information through the preliminary period fiber placement path planning, On the way of the realization of motion control in specifically, It is existed redundant degree-of-freedom based on the fiber placement structure discussed by this article,It is proposed that the terminal of the fiber placement head should be locked in the fiber placement plane, It is coordinated the motion of the manipulator and the principal axis to make the final resultant motion path consistent with the planning path. On problem of the movement information's processing, It is proposed by this article that the realization of motion control should be concentrated on placement points and the relationship between placement points.The placement points should be seen as the assembly point of information,It is only needed to satisfy the placement points and the mutual connection between placement points and neglect the planning path to make the realization of motion trajectory simply. Hereafter,it is discussed in detail the way of calculating the joints corner and the principal axis corner by close vector as well as the realization method of control,It has provided the effective and feasible way for the project application of fiber placement motion control.
It is used the open style control structure of IPC+PMAC,the hardware control platform is built to confirme method proposed by this article. Finally, to consistent with of development direction of the equipment,It is proposed that placement application program module based on Windows should be design to solve the problem of the quantity data and the complex of motion control needed to copy with in the processes of placement, the application is used to copy with the proplem of the information of placement points and silk cutting and so on in the earlier period of fiber placement, The PMAC is used to completes manipulator motion control later period,It provide the project application plan for the control of manipulator trajectory, the software module is developed for the manipulator path control in reaserch, this module could realize the anticipated function and has the advantage of short development cycle, simple for promoted. Finally it is proved that the plan is feasibility through the simple experiment.
引文
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[9]黄领才,刘秀芝,现代大飞机复合材料应用与制造技术浅析[J].航空制造技术,2008(10)：46-48.
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[12]张小辉,段玉岗,李涤尘.原位光固化复合材料纤维铺放制造工艺[J].复合材料自动化制造技术.2011(15)：45-48.
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[16]林胜.自动铺带机/铺丝机(ATL/AFP)—现代大型飞机制造的关键设备(下)[J].相关产业,2009,(6)：84-89.
[17]富宏亚,韩振宇,路华.纤维缠绕/铺带/铺丝成型设备的发展状况[J].航空制造技术,2009,(22)：43-46.
[18]张新峰.纤维缠绕/铺放一体机在大型构件上的应用[J].机电信息,2009,(30)：191-193.
[19]陈亚莉.确定航空复合材料结构大趋向的铺带机及纤维铺放机[J].航空维修与工程,2009,(6)：60-61.
[20]Tosh MW, Kelly D W. Fiber steering for a composite c-beam[J].Composite Structures, 2001(53):133-141.
[21]周燚.复合材料自动铺丝CAD技术研究[D].南京：南京航空航天大学,2006.
[22]Bell,P.R.,et al. Review of Point-to-point Network Routing Algorithms. IEEE Commun. Magazien,1996(1).
[23]于传浩,吴耀楚,王志辉.FRP铺放技术的机构分析[J].武汉化工学院学报,2003,(2)：54-56.
[24]党旭丹,肖军,还大军.自动铺丝平行等距轨迹规划算法实现[J].武汉大学学报,2007,10(5)：613-616.
[25]李金恒,肖慧,胡志华.基于ADAMS的机械手臂运动仿真分析[D].华南理工大学机械与汽车工程学院,2009.
[26]富宏亚,邵忠喜.七自由度纤维铺丝样机研制[J].航空制造技术,2010,(17)：46-48.
[27]田会方,黄亚辉.纤维铺放机的机构设计及仿真[J].机械工程师.2005,(8)：92-94.
[28]王志辉,曹德华.纤维铺放系统的机构分析[J].中国水运,2006.(2)：82-83.
[29]邵忠喜,韩振宇,李明华,富宏亚.纤维铺放设备中丝束增减控制方法及其比较[J].航空学报,2011,32：164-171.
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