Trajectory Planning for Winding Carbon Wire of Composite Structures Using Cooperative Robots

Abstract

In this paper are presented aspects concerning robots trajectory planning for winding carbon wire around of a die, to obtain a composite structure which is used in automotive industry. One of the goals of the research is to realize parts using robots for creating one part and in the same time to optimize the cycle time comparing with manual method. Another goal of this study is to obtain a high accuracy of robot trajectory. This aspect is important because the shape of the final die is asymmetric and the robot tool must travel through small area. In this study are proposed new methods of robots cooperation and trajectory planning. For higher accuracy of the trajectory was introduced the virtual space for designing and testing the trajectory and then transpose in real space. Furthermore are carried out tests to prove the efficiency of proposed method.

Fiber Tensioning Systems in a Robotized Winding Procedure for Composite Materials Building Processes

“…Two of the most important modeling methods of carbon fiber are considered: the placement method and especially the winding method. From the previous studies [20][21][22][23][24][25], it was observed that in the winding process the most important parameters are the trajectory, speeds, and especially tension of the fiber during the process.…”