小型飞机尾椎类零件的纤维铺放轨迹规划算法
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摘要
对于复杂锥壳类零件,传统的等距平移算法难以保证铺放角度的恒定,同时在实际铺放过程中会对已铺放区域产生影响。针对这一问题,首先提出0°、±45°的完全定角度法和90°的变角度法。完全定角度法可以保证每一条轨迹上任意点铺放角都相等,有效消除了实际铺放轨迹和理论之间的差异;变角度法可以避免铺放过程中间隙和重叠的产生,使得各丝束除端口外不出现重送、裁剪过程。然后,通过等距平移法生成各条丝束,进行边界处理、丝束数量计算,求取下落点、重送点等特殊点,并将各条轨迹通过插值法得到一条完整的末端轨迹。最后,基于CATIA二次开发技术开发了一套纤维铺放软件,并且对小型飞机机身尾椎曲面进行路径规划,证明了该算法的合理性。
For the complex conical shell parts,the traditional trajectory planning algorithm named isometric offset algorithm is difficult to make the trajectory angle unchangeable. Also,the isometric offset algorithm makes a serious impact on the laying area in the actual laying process. In order to overcome this problem,this paper puts forward the complete same-angles algorithm for the 0° and ±45° trajectory planning and the variable-angles algorithm for the90° trajectory planning. The complete same-angles algorithm not only makes the trajectory angle of the points on the every trajectory constant,but also causes the deviation between the actual placement angle and the designed fiber ply angle. The variable-angles algorithm can ensure that the trajectory has no gaps and no overlapping in the laying progress and every filament has no resend and clipping process except at the beginning or ending of laying progress.And then,the center line of every filament will be generated by the use of the isometric offset algorithm. After the boundary treatment and the calculation of filament number,the special points like the drop points and the resend points will be obtained. What's more,the terminal path will be obtained by connecting every paths by using SLERP.Besides,the software is developed based on the V5 Automation technology of CATIA and Visual Studio 2015. At last,the algorithm has been successfully used to plan the trajectory of the small aircraft tail by using the software,which proves that the algorithm is reasonable and feasible.
For the complex conical shell parts,the traditional trajectory planning algorithm named isometric offset algorithm is difficult to make the trajectory angle unchangeable. Also,the isometric offset algorithm makes a serious impact on the laying area in the actual laying process. In order to overcome this problem,this paper puts forward the complete same-angles algorithm for the 0° and ±45° trajectory planning and the variable-angles algorithm for the90° trajectory planning. The complete same-angles algorithm not only makes the trajectory angle of the points on the every trajectory constant,but also causes the deviation between the actual placement angle and the designed fiber ply angle. The variable-angles algorithm can ensure that the trajectory has no gaps and no overlapping in the laying progress and every filament has no resend and clipping process except at the beginning or ending of laying progress.And then,the center line of every filament will be generated by the use of the isometric offset algorithm. After the boundary treatment and the calculation of filament number,the special points like the drop points and the resend points will be obtained. What's more,the terminal path will be obtained by connecting every paths by using SLERP.Besides,the software is developed based on the V5 Automation technology of CATIA and Visual Studio 2015. At last,the algorithm has been successfully used to plan the trajectory of the small aircraft tail by using the software,which proves that the algorithm is reasonable and feasible.
引文
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[14]黄威.复合材料自动铺丝运动仿真及验证[D].南京:南京航空航天大学,2016.
[15]文立伟,李俊斐,王显峰,等.基于结构设计的自调节铺放轨迹规划算法[J].航空学报,2013,34(7):1731-1739.
[16]胡斌,徐东亮.基于遍历法的开放曲面铺丝轨迹规划[J].玻璃钢/复合材料,2014(6):20-24.
[17]段玉岗,葛衍明,孟洋,等.基于角度与间距可控的纤维铺放轨迹规划[J].航空学报,2015,36(10):3475-3482.
[18]阎龙,王发展,史耀耀.基于非等距偏置的纤维铺放路径规划算法[J].航空学报,2015,36(11):3715-3723.
[2]陈祥宝.先进树脂基复合材料的发展和应用[J].航空材料学报,2003,23(S1):198-204.
[3]文立伟,肖军,王显峰,等.中国复合材料自动铺放技术研究进展[J].南京航空航天大学学报,2015,47(5):637-649.
[4]Marsh G.Automating aerospace composites production with fibre placement[J].Reinforced Plastics,2011,55(3):32-37.
[5]苏霞.先进复合材料制造技术[J].橡塑技术与装备,2015,41(24):49-52.
[6]冯磊强.复合材料纤维铺放技术现状与研究进展[J].河北农机,2016(4):66-66.
[7]Marsh G.Duelling with composites[J].Reinforced Plastics,2006,50(6):18-23.
[8]Shirinzadeh B,Foong C W,Tan B H.Robotic fibre placement process planning and control[J].Assembly Automation,2013,20(4):313-320.
[9]Lewis H W,Romero J E.Composite tape placement apparatus with natural path generation means:US,US4696707[P].1987.
[10]Ribbens C,Jones R M,Waldhart C.Analysis of tow-placed,variable-stiness laminates[J].Virginia Tech,1996.
[11]Legrand X,Kelly D,Crosky A,et al.Optimisation of fibre steering in composite laminates using a genetic algorithm[J].Composite Structures,2006,75(1):524-531.
[12]Blom A W,Tatting B F,Hol J M A M,et al.Fiber path definitions for elastically tailored conical shells[J].Composites Part B Engineering,2009,40(1):77-84.
[13]孟书云,赵东标,陆永华.复杂曲面自动铺丝轨迹规划算法设计[J].中国机械工程,2016,27(5):669-673.
[14]黄威.复合材料自动铺丝运动仿真及验证[D].南京:南京航空航天大学,2016.
[15]文立伟,李俊斐,王显峰,等.基于结构设计的自调节铺放轨迹规划算法[J].航空学报,2013,34(7):1731-1739.
[16]胡斌,徐东亮.基于遍历法的开放曲面铺丝轨迹规划[J].玻璃钢/复合材料,2014(6):20-24.
[17]段玉岗,葛衍明,孟洋,等.基于角度与间距可控的纤维铺放轨迹规划[J].航空学报,2015,36(10):3475-3482.
[18]阎龙,王发展,史耀耀.基于非等距偏置的纤维铺放路径规划算法[J].航空学报,2015,36(11):3715-3723.