An Accurate Path Planning Algorithm Based on Triangular Meshes in Robotic Fibre Placement

Li, Lina; Wang, Xingang; Xu, Donghao; Tan, Min

doi:10.2316/journal.206.2017.1.206-4673

Cited by 3 publications

(2 citation statements)

References 12 publications

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“…The pine material is easy to crack and deform which is the main reason for deviation. When the airfoil workpiece is used as the placement model in the robotic fiber placement, 27 it is necessary to modify the design model according to scanned model to ensure that the subsequent operation of workpiece is based on the actual model. The experimental results show that laser scanner can acquire complete data of workpiece surface according to designed planning path and meet the requirement of surface detection for workpiece.…”

Section: Scanning Experimentsmentioning

confidence: 99%

A path planning method for a surface inspection system based on two-dimensional laser profile scanner

Niu

et al. 2019

International Journal of Advanced Robotic Systems

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In this article, a method for two-dimensional scanning path planning based on robot is proposed. In this method, a section division algorithm based on neighborhood search method for scanning orientation determination is firstly produced. The scanning paths which meet constraints of the system are then generated. Finally, the experiment is carried out on robot-based scanning platform. The two-dimensional data from scanner and the robot position are combined to form three-dimensional surface data of measured workpiece. The experiment results verify the effectiveness of proposed method.

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Section: Scanning Experimentsmentioning

confidence: 99%

A path planning method for a surface inspection system based on two-dimensional laser profile scanner

Niu

et al. 2019

International Journal of Advanced Robotic Systems

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“…Most researchers focus on placement path generation algorithms, which include the initial path and offset path generation. [9][10][11][12] And there are also studies about placement path evaluation. Cong Zhao et al proposed fiber path layup quality and evaluated path based on prepreg tow deformability on free-form surface.…”

Section: Introductionmentioning

confidence: 99%

An improved path discretization method for automated fiber placement

2020

Journal of Reinforced Plastics and Composites

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In the automated fiber placement process, the continuous placement paths need to be discretized into a finite number of path points because the laying head cannot continuously trace the predetermined curved path. However, the discretization of the placement path, which is a spatial curve, will inevitably introduce error. In this paper, an improved path discretization algorithm is proposed for the fiber placement of complex double-curved structures. Firstly, the discrete error was decomposed into normal direction and binormal direction, and they are correlated with the laying process and their influences on the laying quality are discussed, respectively. Secondly, the relationship between the binormal error and the overlap of the tow is analyzed with differential geometry, and the influence of the normal error on laying force is discussed by the pressure experiment and the finite element method. Finally, the improved path discretization algorithm has been verified on double-curved surface and compared with the traditional path discrete algorithms. The results showed that the number of discrete path points decreases by 45.8% on average compared with the chordal deviation discretization algorithm and by 63.1% compared with the equal-arc discretization algorithm.

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Trajectory optimization for automated tape placement on triangular mesh surfaces considering gap requirements

Zhang,

Li,

Tang

et al. 2024

Journal of Computational Design and Engineering

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Automated tape placement (ATP) is an important automated process adopted for the fabrication of large composite components. Trajectory planning is the key link of ATP, which directly affects the precision and efficiency of the layup process, and the quality of final products. Presently, most existing trajectory optimization methods for ATP focus on smooth surfaces. Nevertheless, as commercial CAD/CAM software generally uses NURBS (Non-uniform Rational B-Splines) for modelling, the difficulty of finding the solution and the low efficiency associated with the calculation process are inevitable. The discrete methods provide alternatives for designing layup trajectories, whereas their accuracy is seldom analyzed. Furthermore, a path optimization algorithm for eliminating gap problems while preventing wrinkles on discrete models is rarely reported. In this paper, the adjustment of layup trajectories for ATP is considered on triangular meshes. Firstly, the triangular mesh is reconstructed as a Nagata patch to recover the original geometry with good accuracy. Then, a numerical method for tracing desired paths on the Nagata patch set is provided, and the computation efficiency is validated. Next, two optimization methodologies are proposed to improve the layup of composite tapes while avoiding wrinkles. Finally, the presented two strategies are examined on a discrete hyperbolic surface and a discrete freeform surface, and some of the results are delivered.

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An Accurate Path Planning Algorithm Based on Triangular Meshes in Robotic Fibre Placement

Cited by 3 publications

References 12 publications

A path planning method for a surface inspection system based on two-dimensional laser profile scanner

A path planning method for a surface inspection system based on two-dimensional laser profile scanner

An improved path discretization method for automated fiber placement

Trajectory optimization for automated tape placement on triangular mesh surfaces considering gap requirements

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