23 5 2018 10 Vol. 23 No. 5 JOURNAL OF HARBIN UNIVERSITY OF SCIENCE AND TECHNOLOGY Oct. 2018 1 1 2 2 1. 150080 2. 150080 Matlab AD- AMS CAD DOI 10. 15938 /j. jhust. 2018. 05. 016 TP391. 9 A 1007-2683 2018 05-0092- 08 Off-line Programming of Robotized Filament Winding and Its Application XU Jia-zhong 1 SUN Dong 1 YANG Hai 2 LIU Mei-jun 2 1. School of Automation Harbin University of Science and Technology Harbin 150080 China 2. School of Mechanical and Power Engineering Harbin University of Science and Technology Harbin 150080 China Abstract In this paper we make a research on mesh post disposal of composite winding and robot motion control theory and establish an off-line wind programming and simulation platform of an industrial robot based on Matlab and ADAMS. It can do CAD of winding path according to equal distance equal height and equal fiber length three different envelop forms and generate the executable file on the robot automatically. At the same time it can optimize the winding path by doing animation simulation and motion analysis of the winding process. Simulation and physical experiments of winding one bent pipe have been done. It shows that the platform is reliable and practical winding path design is convenient and accurate and the simulation effect is ideal. Simulated experiment can effectively shorten robot winding path development cut down the times of physical experiments and save the development costs. Keywords robotic winding offline programming computer emulation mesh post disposal 0 2016-12 - 09 E201301 2015RAXXJ013. 1992 1991. 1977 E-mail xujiazhong@ 126. com.
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94 23 2 6 7 ΔX ΔY ΔZ P 1 P ' 1 P 2 P ' 2 XOY X B 1 B 2 P 1 P ' 1 P 2 P ' 2 XOY A 1 A 2 7 ΔA ΔB ΔX = X 1 - X 2 ΔY = Y 1 - Y 2 ΔZ = Z 1 - Z 2 ΔE = E 1 - E 2 ΔB = B 1 - B 2 ΔA = A 1 - A 2 7 1 OF 2 = OP 2 + β 2 L 3 OF1 OF2 E 1 E 2 7 ΔE ΔE OP 1 = r 1 cos θ 1 + ΔE y 1 r 1 sin θ 1 + ΔE } r 1 = x 2 2 槡 1 + z1 θ 1 = arcsin z 1 /r 1 4 OP 2 = r 2 cos θ 2 + ΔE y 2 r 2 sin θ 2 + ΔE } r 2 = x 2 2 槡 2 + z2 θ 2 = arcsin z 2 /r 2 5 P 1 P 2 β ' 2 F 2 P ' 2 OP ' 2 = OP 2 + β 2L ' = X 2 Y 2 Z 2 6 2
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96 23 Ci = cos θi Si = sin θi i = 1 2 3 4 5 6 0 T 6 = 5 A 6 4 A 5 3 A 4 2 A 3 1 A 2 0 A 1 = n x o x a x p x n y o y a y p y n z o z a z p z 0 0 0 1 9 Ai-1 0T6 Matlab 4 θ i 3 3. 1 6 Matlab ADAMS 4 IPC Inter- Process communication 15 Matlab /Simulink ADAMS Postprocess 16-17 3. 2 ADAMS MDI 4 5 3. 3 6 ADAMS ADAMS SolidWorks Matlab parasolid ADAMS 5 6 10
5 97 6 X Y Z A B E 3 4 4. 1 1 6 6 2 7 7 a X E 7 b Y E 7 c A E X X Y 7 3 X Y A L L 4 150 L mm 200 mm 250 mm 300 mm 150 mm 8 L 3 4 ADAMS
98 23 XY 4. 2 10 a KUKA 10 b KUKA -Enthernet 11 a 1-5 11 b XYA 1 10 b 6 11 a 2 11 b 8 150 mm 200 mm 250 mm 300 mm X Y A 9 X-Y 5 10 9 XY
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