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首页> 外文会议>Youth Academic Annual Conference of Chinese Association of Automation >Path optimization for open-contoured structures in Robotic Fibre Placement
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Path optimization for open-contoured structures in Robotic Fibre Placement

机译：机器人纤维铺放中开放轮廓结构的路径优化

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Robotic Fibre Placement (RFP) is widely used in manufacturing composites and path planning is essential to produce high-quality composites during the process. However, there is a lack of evaluation of path accuracy before laying, thus it's hard to optimize path under theoretical guidance and the quality of composites cannot be theoretically guaranteed. To solve this problem, this article establishes a theoretical evaluation model of path based on its error and proposes a corresponding optimization method to improve the accuracy of path. By calculating the distance between the roller and the mould along the direction perpendicular to the path, a path error distribution model is acquired and its maximum, mean and variance are used to evaluate the path. Then, the orientation of the roller along path is optimized to minimizing the path error. Some simulation experiments are conducted and the optimization leads to a 63.4% and 69.0% reduction in the maximum and average path error respectively, which will improve the quality of composites.
机译：机械手纤维铺放（RFP）被广泛用于制造复合材料，并且路径规划对于在此过程中生产高质量复合材料至关重要。但是，由于铺设前缺乏对路径精度的评估，因此很难在理论指导下优化路径，理论上不能保证复合材料的质量。为了解决这个问题，本文建立了基于路径误差的理论评价模型，并提出了相应的优化方法，以提高路径的精度。通过计算沿垂直于路径的方向滚子与模具之间的距离，可以获取路径误差分布模型，并使用其最大值，均值和方差来评估路径。然后，优化滚子沿路径的方向以最小化路径误差。进行了一些模拟实验，通过优化，最大和平均路径误差分别降低了63.4 \％和69.0 \％，这将改善复合材料的质量。

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