Prediction method for offset compensation on three-dimensional mandrel with spatial irregular shape

Meng, Zhuo; Yao, Lingling; Bu, Jianqiu; Sun, Yize

doi:10.1177/1528083719858766

Cited by 6 publications

(10 citation statements)

References 16 publications

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“…Monnot et al 17 established the braiding model suitable for the mandrel of non-axisymmetric geometric shape and bending center line, and completed the braiding with industrial robots. Zhuo et al 18 analyzed the offset of the mandrel after force in the braiding process by finite element method, and then compensated the robot end to improve the braiding accuracy, but it is difficult to transform the coordinate system of the mandrel with arbitrary curved three-dimensional complex component. Martinec et al 19 analyzed the process of the robot end clamping mandrel through the winding head in fiber winding, and obtained the trajectory of the robot during operation through calculation, but did not consider the situation that the mandrel section changed constantly.…”

Section: Prefacementioning

confidence: 99%

Robot trajectory optimization control of braiding for three-dimensional complex preforms

Chi

Hong-xia

et al. 2021

Journal of Engineered Fibers and Fabrics

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The quality of composite preform has great influence on its mechanical properties. Aiming at the problems of difficulty in robot teaching and unstable braiding angle in the process of braiding three-dimensional complex component, a control method of robot is proposed. Firstly, the mandrel is discretized to ensure that the axis of each discrete mandrel is perpendicular to the braiding point plane, and the orientation and direction of the tool center are calculated. Then, the take-up speed of the robot is calculated, so that the self-adjustment of the braiding angle can be realized in the braiding process. The experimental results show that the control method can effectively reduce the braiding angle error of variable cross-section mandrel within 2°, and can improve the quality of composite products in actual production.

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Section: Prefacementioning

confidence: 99%

Robot trajectory optimization control of braiding for three-dimensional complex preforms

Chi

Hong-xia

et al. 2021

Journal of Engineered Fibers and Fabrics

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“…Mlýnek et al described an optimized winding process that was considered for the case of a generally 3D geometrically shaped frame having a constant circular cross-section of the frame [1,23]. The optimization, and also the control of robot trajectory in the fiber winding process, has been the topic of many studies for the accurate fabrication of composite frames [1,35,40,[42][43][44][45][46][47].…”

Section: Introductionmentioning

confidence: 99%

Fabrication of High-Quality Straight-Line Polymer Composite Frame with Different Radius Parts Using Fiber Winding Process

et al. 2021

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The extraordinary features of fibrous composites enable advanced industries to design composite structures with superior performance compared to traditional structures. Composite frame structures have been designed frequently as components of mechanical systems to resist lateral and gravity loads. The manufacturing of high-quality composite frames depends primarily on the accurate fiber winding on frames with different pro-files and curved shapes. The optimal fiber winding process on a nonbearing composite frame with a circular cross-section is described in previous works by the same authors. As an extension to that, this study focuses on the manufacturing of straight-line composite frames with different profile radii at multiple locations. Such production procedure allows continuous winding of fibers gradually on individual parts of the frame and generally with different angles of fiber winding. The winding procedure is performed using fiber-processing head and industrial robot. The procedure for calculating the distance of the winding plane of fibers on the frame from the guide-line of the fiber-processing head is targeted. This distance depends on the required angle of fiber winding, the radius of the frame, and the geometric parameters of the fiber-processing head. The coordination of the speed of winding the fibers on the frame and the speed of the passage of the frame through the winding head is also considered. Determining the correct distance of winding the fibers from the corresponding guide-line of fiber-processing head and right coordination of the winding speed and the speed of passage of the frame through the fiber-processing head ensure compliance of the required angles of fiber windings on the frame and homogeneity of winding fibers, which are the two of the most important prerequisites for producing a quality composite frame. The derived theory is well verified on a practical experimental example.

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“…The advantages of robotic fiber over manual fiber windings (winding of fibers by production worker without the use of a robot or other textile machine) in the manufacturing process of composite frame were investigated by Shirinzadeh, et al [19]. It is proven that determining a correct off-line REE trajectory results in making high-quality winding of fibers onto a core frame during the production process of the polymer composite frame [3,4,16,20]. The process of trajectory calculation during the winding process for simple frame geometry in the form of two-and three-dimensional (2D and 3D) cases, is described elsewhere [21].…”

Section: Introductionmentioning

confidence: 99%

“…The optimization of robot trajectory in the fiber winding process is also addressed, in which graph theory is used to obtain the optimal robot trajectory as well as special algorithm such as genetic algorithm, harmony search and also Bézier curves [28][29][30][31][32]. A similar topic, however, focused rather on the study of trajectory control of an arbitrary shape winding mandrel in 3D circular braiding is explored in [20,23,27]. Sofi et al presented dry fiber winding possibilities and explanation of the most important processes of winding [22], and Polini et al pointed out that the tension of winding during robotic filament winding technology is a very important parameter that influences directly the defects and the mechanical property of composite [23].…”

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Fabrication of High-Quality Polymer Composite Frame by a New Method of Fiber Winding Process

et al. 2020

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Polymer composite frame has been frequently used in the main structural body of vehicles in aerospace, automotive, etc., applications. Manufacturing of complex curved composite frame suffer from the lack of accurate and optimum method of winding process that lead to preparation of uniform fiber arrangement in critical location of the curved frame. This article deals with the fabrication of high-quality polymer composite frame through an optimal winding of textile fibers onto a non-bearing core frame using a fiber-processing head and an industrial robot. The number of winding layers of fibers and their winding angles are determined based on the operational load on the composite structure. Ensuring the correct winding angles and thus also the homogeneity of fibers in each winding layer can be achieved by using an industrial robot and by definition of its suitable off-line trajectory for the production cycle. Determination of an optimal off-line trajectory of the end-effector of a robot (robot-end-effector (REE)) is important especially in the case of complicated 3D shaped frames. The authors developed their own calculation procedure to determine the optimal REE trajectory in the composite manufacturing process. A mathematical model of the winding process, matrix calculus (particularly matrices of rotations and translations) and an optimization differential evolution algorithm are used during calculation of the optimal REE trajectory. Polymer composites with greater resistance to failure damage (especially against physical destruction) can be produced using the above mentioned procedure. The procedure was successfully tested in an experimental composite laboratory. Two practical examples of optimal trajectory calculation are included in the article. The described optimization algorithm of REE trajectory is completely independent of the industrial robot type and robot software tools used and can also be used in other composite manufacturing technologies.

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Prediction method for offset compensation on three-dimensional mandrel with spatial irregular shape

Cited by 6 publications

References 16 publications

Robot trajectory optimization control of braiding for three-dimensional complex preforms

Robot trajectory optimization control of braiding for three-dimensional complex preforms

Fabrication of High-Quality Straight-Line Polymer Composite Frame with Different Radius Parts Using Fiber Winding Process

Fabrication of High-Quality Polymer Composite Frame by a New Method of Fiber Winding Process

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