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纤维铺放轨迹规划是纤维铺放成型中控制加工路径的关键步骤,直接影响复合材料构件的成型精度和铺放效率。本文基于成熟的商业化CATIA数控加工编程软件进行纤维铺放轨迹计算,获取待处理的加工路径,利用矢量补充和格式转换算法解决了铺放轨迹信息与FANUC机器人兼容性差的问题;借助插值算法求出了输送点和剪断点,补充了铺放轨迹信息,进而得到了完整的铺放信息,缩短了开发周期。在基于FANUC机器人的铺放装备上对某飞机舱门进行铺放实验,验证了基于CATIA数控加工技术的纤维铺放轨迹生成方法具有可行性,铺放轨迹结束点位置误差及轨迹间距误差都在±0.5mm之内。
Fiber placement trajectory planning is a key step in controlling the processing path in fiber placement and molding, which directly affects the forming accuracy and laying efficiency of the composite material. In this paper, based on the mature and commercialized CATIA NC programming software, the fiber placement trajectory is calculated and the processing path to be processed is obtained. The problem of poor compatibility of laying trajectory information and FANUC robot is solved by vector complement and format conversion algorithm. Out of the delivery point and the cut-off point, added the laying of track information, and then get a complete placement of information, shortening the development cycle. Based on the deployment of FANUC robots on a plane door experiments were carried out to verify the CATIA CNC machining technology based fiber placement trajectory generation method is feasible, the laying of the trajectory end position error and trajectory spacing error are Within ± 0.5mm.