工艺与制造英文2013被引 34
基于高精度机器人技术和模块化铺丝头的增强型机器人自动铺放工艺
Enhanced Robotic Automated Fiber Placement with Accurate Robot Technology and Modular Fiber Placement Head
Kyle A. Jeffries · Electroimpact Inc.
摘要整理
通过将高精度关节机器人系统与模块化自动铺放（AFP）头相结合，机器人自动铺放工艺得到了显著提升。该高精度机器人系统由一台现成的六轴KUKA Titan KR1000L750机器人组成，其安装在线性导轨上，并可选配额外的工件旋转轴。为进一步提高精度，机器人的每个轴都配备了辅助位置编码器。模块化铺丝头具备机器人工具快换功能，可实现工艺头的快速更换，并集成了一个车载纱架。这种快速更换的铺丝头和简化的牵引路径，显著提升了工艺的可靠性和灵活性，同时允许铺丝头的离线准备。整个系统由西门子840Dsl数控系统控制，该系统负责所有工艺功能、机器人运动，并执行Electroimpact开发的软件技术，以实现卓越的定位精度，包括利用高阶运动学模型增强的运动学控制。工件编程和仿真则通过CGTech VERICUT复合材料编程和VERICUT复合材料仿真软件进行离线完成。这种技术组合使得该系统具备高路径精度和工艺灵活性，且成本低于传统铺丝设备。
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