7 freedom spend fiber to spread filar prototype development

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Make technical standard to promote our country composite material, fiber shop puts technology and equipment development to digitlize the main component of product line as composite material, had included our country " aircraft manufacturing industry digitlizes a project " guideline. Current, project of our country big airlines already project approving, it is air bus and transport of large-scale for military use clearly, dosage of composite material of early days program is 15% , as technical development and maturity, composite material dosage will expand further. Fiber shop puts a technology is the key that solves spare parts of plane composite material to make, at present only the country of a few a few wests such as beautiful, law, Spain masters the core of this technology, and western country accuses to spread filar equipment to implement contraband policy to our country to high-powered much number of degrees of freedom. Accordingly, our country should make long-term development plan about the branch, in a planned way, have the organization, research work that begins fiber shop to put a technology scientifically, the research that is necessary to begin automatic shop to put equipment, CAD/CAM, shop to put the crucial technology such as craft works. For this, harbin Institute of Technology is on the foundation that draws lessons from abroad to study positive result, according to the actual national condition of our country, those who developed to have own intellectual property is small-sized 7 freedom spend fiber to spread filar prototype, spread out the multinomial special subject such as structure of thrum of system of orbit program, control, shop research, to develop large airlines composite material further the shop put equipment to lay a foundation. 7 freedom spend the total construction of the machine that spread silk to spread the pose of thrum to adjust to come true, the store that implements parts of pair of construction of curved surface tubal account especially puts the work, need 6~8 each normally by degree. Because this task designed the fiber that 7 freedom spend to spread filar device, its structure composition is shown 1 times like the graph, if the graph is shown 2 times,spread thrum. This fiber spreads filar device to wear 3 parts to comprise by arm, main shaft and gauze. Arm part belongs to 3P-3R robot arm, by the mobile reference axis of 3 orthogonality (axis of X, Y, Z) and contain 3 rotational reference axis (axis of A, B, C) spherical artifice composition, have 4 bundles the shop thrum of bundle of control and a shop silk ability is added outfit in artifice extreme, gauze wears jacket to have 4 gauze canister, at the same time silk bundle tensional control is inside certain limits. The structural design program of this kind of device that spread silk used space of work of 3P-3R robot arm the characteristic with big, big nimbleness, rose to spread thrum to be in can amount to the pose inside dimensional limits to control capacity, and the whirl of main shaft is spent freely offerred possibility to machine spare parts tubal account. The silk of the equipment that spread silk bundle the shop puts a function to basically be finished by shop thrum, if the graph is shown 3 times,extend the working principle of thrum, fiber silk bundle classics directive wheel, silk bundle the silk that dispatching system enters shop thrum bundle inside the passageway, in order passes a bundle of clamp module, silk bundle send module and silk again bundle cut off module, in silk bundle gather into in gather module lacy, be carried again the lower part that controls roller, heating the silk below module and the effect that exert tool set piece bundle surface of model of core be goinged to by impaction or on the lay up of core model. Among them, each silk bundle independent control, can be cut off in the process that extends silk and send random again all the way silk bundle, this can pass silk of increase and decrease bundle the amount will adjust lacy width. Volume of lacy the smallest increase and decrease is thin bundle of silk bundle width, through adjusting at the same time bandwidth eliminates photograph adjacent silk bundle the clearance between and jackknife. Aleatoric silk bundle send again independently with cutting off is the clamp module that spreads thrum through control, heavy send module and cut off module and finish. System of numerical control of silk of a wide bed number of people of department of the control that spread silk uses IPC to add motion to control card (PMAC) open mode configuration, if pursue,4 are shown. The I/O control of PMAC includes two shares: It is a machine tool spacing of each movement rod and answer origin to use journey switch control; Another part is to be used at silk bundle the I/O that the control that enrage a road uses, the J9 opening that uses photoelectricity to keep apart output circuit to pass PMAC dominates exterior electromagnetism a powerful person or family, among them tiny bit bundle of important research content that control is software of system of the control that spread silk partly. This bundle control method is silk bundle control code conformity controls code to motion (G code) in, if pursue,5 are shown. Specific computation move is as follows: (1) the silk of E of dot of contrail of computational shop silk bundle dominate news (silk bundle ① sends again or cut off) ; (2) a bit D that turns over direction to find orbit curve to go up in what spread a campaign, make the distance that D dot nods to E is equal to send a distance Lr again, criterion the silk that D is nodded even if E dot spreads silk bundle dominate the niche; (3) have D position and other place sort by the direction that spread silk, after undertaking postposition handles computation to be changed into G code, in joining motion to control code, increase silk at the same time bundle control code; (4) should undertake silk bundle when sending control again, the motion that increases chance of heavy power transmission in D position controls code. Nextpage fiber spreads method of filar contrail program to spread a work efficiency to rise, reduce the equipment that spread silk to cut fiber silk bundle frequency, those who achieve full silk to spread filar man-hour is the biggest change, put forward to will wait for a shop to put part law and equidistant slant buy law photograph is united in wedlock, be in with the curve inside curved surface equidistant slant buy law puts orbit to optimize a method for the shop of core. Should optimize a method to describe as follows in detail (if pursue 6) : Setting a shop to put horny range is [(φ - Δ φ ) , (φ + Δ φ ) ] , e 1, E 2 is border of model curved surface. Initiative fiber takes set the shop of brim curve puts part is (φ - Δ φ ) , use wait for a shop to put C 1 of horny way computation. Set is equidistant slant the curved surface distance of buy is full silk the fiber bandwidth that the shop puts spends W, by given slant fiber of computation of buy direction T F takes N) of ～ of {C I}(i =1 of brim curve collect, among them Ci is equidistant slant buy gets Ci +1. The shop puts orbit C I to take the positional decision of brim curve C I, C I +1 by photograph adjacent, c I is apart from to the curved surface of C I, C I +1 is W /2, right now fiber takes silk bundle the amount puts a number for full silk shop. Slant in computation {C I} of buy curve collect while, examine the store that the contrail on Ci chooses puts horn to whether satisfy a shop to put horny range [(φ - Δ φ ) , (φ + Δ φ ) ] requirement, hypothesis Cn +1 does not satisfy a requirement, abandon go Cn +1, get taking N) of ～ of {Ci}(i =1 of brim curve collect. Again by wait for a shop to put horny way initiative fiber takes recount ′ of brim curve C 1, the positional relation of C 1 ′ and C N is: The distance of the biggest curved surface on model curved surface is W. Continue according to equidistant slant) of ′ of N of}(i =1 ～ of ′ of {C I of collect of curve of buy law computation. Right finally of curvilinear collect {C I} and} of {C I ′ intersect the curve has crop (C N of the reservation in be like a graph, ′ of clip C 1) , reservation part (area of the thalweg in be like a graph) bandwidth is less than or be equal to W, fiber of here need computation takes silk bundle amount. Put orbit according to the shop of computation of orbit program method that is based on fiber to take brim curve again (the shop between the C N in the graph and C 1 ′ puts orbit C N) . Above is a when optimize a method complete loop, till such loop is calculated the whole area of model curved surface brim curve and shop silk contrail. Because the postposition processing technique of the contrail that spread silk spreads filar equipment to machine the characteristic of part pattern, and athletic number of axle amounts to 7 again, the postposition processing technique of its postposition processing technique and machine tool of ordinary numerical control is so different. On the foundation of labor plant construction, go against what this problem end spends redundant robot for 7 freedom kinematic problem. In recent years, there is the experience of a lot of successes domestic and internationally in this respect: Of the CESAR robot that is like the United States go against kinematic use Jacobi matrix the method of cent piece, simplified gradient is umbriferous the law begs what elegant gram compares matrix to go against, reduced computational amount; The BUAA-RR of Beijing aerospace university robot, used pose depart means according to the characteristic of oneself orgnaization, make 7 freedom are spent go against kinematic problem changeover to spend broad sense to go against kinematic problem for 3 freedom; Additionally geometrical method depart gives free movement rod also is a kind of method. In addition, still have the gradient that is based on Jacobi matrix umbriferous law, be based on the method of weighted least squares that SVD decomposes, go against kinematic closed circuit to beg solution method to wait, but these methodological computation amounts are larger, and get the tie of robot itself structure. If the graph is shown 7 times, the campaign spreading silk that the device that spread silk manages in orbit dot P moves to be finished jointly by the whirligig of core model main shaft and arm, so V of shop silk direction is the synthesis of two movement way, include main shaft whirligig turn over directional V1 and arm end-effector (shop thrum presses roller) athletic way V2. Through above analysis, introduce a robot again kinematic relevant principle, the postposition that uses pose separation process to study 7 freedom spend the device that spread silk handles algorithm. Main shaft of detached core model rotates this redundant freedom is spent, this athletic rod of redundant orgnaization cent becomes main shaft and arm two parts undertake postposition handles algorithmic analysis. Because arm part is orgnaization of typical 3P-3R series connection, have 6 freedom to spend, make 7 freedom spend redundant orgnaization go against kinematic problem translate into 6 freedom spend those who be not redundant orgnaization to go against kinematic problem, simplified postposition processing is algorithmic. The postposition processing process that is based on the 7 freedom of pose separation process to spend the device that spread silk is: The movement that spread silk presses roller to move to be finished jointly by main shaft roll and shop thrum, it is certain that core model coordinate fastens the pose information of contrail of lower berth silk to circle main shaft axes to rotate arm endmost pose gets after angle, and the rotational quantity that this gyral angle is main shaft, calculate according to D-H law again the motion of each axis estimates arm share. The silk that experiment of fiber shop silk undertakes width is 4mm bundle the experiment that spread silk, test and verify spreads silk to control construction of system and the validity that control a method, choice silk bundle increase and decrease controls independence at athletic pilot method, the silk that the aluminous material that is 275mm in the diameter pledged 45 ° orbit achieves on cylinder bundle spread silk, if craft parameter expresses 1 to show, if the graph is shown 8 times,the shop puts a result. In the machine tool in the process that spread silk each axis moves the position correct, silk bundle position of increase and decrease accurate, silk bundle moving stability of system of tensional stability, control is reliable, proved motion controls method, silk thereby bundle the feasibility of method of control of increase and decrease, tensional control method. Automatic fiber shop puts the last word the technology is to solve the crucial technology that the component such as airframe of high strenth, light qualitative composite material and intake duct makes, this technology is integrated fiber is twined and extend the advantage that takes a skill automatically, got applied extensively in the high-tech domain such as aviation, spaceflight. The article designed 7 freedom to spend machine of bundle of fiber shop silk and 4 its control systems, be opposite at the same time the crucial technology such as a program of the bundle of control, contrail that spread silk and the postposition processing that optimize method, equipment undertook study. Used research facilities finally to realize silk bundle the experiment that spread silk, in experiment process control system stability, each axis moves the place is proper. CNC Milling CNC Machining