复杂曲面上的自动铺放路径规划方法

赵安安; 何大亮; 王晗; 郭俊刚; 柯映林

doi:10.13700/j.bh.1001-5965.2020.0619

复杂曲面上的自动铺放路径规划方法

doi: 10.13700/j.bh.1001-5965.2020.0619

赵安安^{1, 2},
何大亮²,
王晗³,
郭俊刚^2, ,,
柯映林³

1.
浙江大学工程师学院, 杭州 310058
2.
中航飞机股份有限公司, 西安 710089
3.
浙江大学机械工程学院, 杭州 310058

基金项目:

国家自然科学基金重大研究计划 91948301

浙江省重点研发计划 2020C01039

详细信息

通讯作者:
郭俊刚, E-mail: guojg@avic.com

中图分类号: V261.94;TH164
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- 被引次数: 0
出版历程
- 收稿日期: 2020-11-06
- 录用日期: 2021-03-19
- 网络出版日期: 2022-04-20

Automatic paving path planning method on complex surfaces

ZHAO An'an^{1, 2},
HE Daliang²,
WANG Han³,
GUO Jungang^{2
, ,},
KE Yinglin³

1.
Polytechnic Institute, Zhejiang University, Hangzhou 310058, China
2.
Avic Aircraft Co., Ltd., Xi'an 710089, China
3.
School of Mechanical Engineering, Zhejiang University, Hangzhou 310058, China

Funds:

Major Research Plan of National Natural Science Foundation of China 91948301

Key Research and Development Program of Zhejiang Province 2020C01039

More Information

Corresponding author: GUO Jungang, E-mail: guojg@avic.com

摘要

摘要:
自动铺丝是一种先进的复合材料自动制造技术，广泛应用于制造形面复杂的复合材料构件。大曲率区域丝束的压实质量较差、铺放路径的方向偏差和转弯半径难以同时满足等问题，导致了各种铺放缺陷。研究了曲面曲率对路径性能的影响，建立了分区域路径规划机制。采用压辊到曲面的距离来表征丝束压实情况，并根据曲面曲率估算可压实丝束的数量。建立了局部方向偏差和转弯半径计算方法，并在路径密化过程中实时评价，在路径性能超出约束时进行分区。考虑了丝束压实、方向偏差及转弯半径对铺放路径的约束，保证了整张曲面的铺放质量和铺放效率。在翼梢小翼曲面上完成了路径规划方法的仿真和实验验证，结果表明：所提方法能够在复杂曲面上获得满足性能要求的铺放路径。
- 复杂曲面 /
- 自动铺丝 /
- 路径规划 /
- 铺放分区 /
- 性能约束
Abstract:
Automated fiber placement is an advanced automatic manufacturing technology for composite materials, which is widely used in manufacturing composite components with complex shapes. However, the compaction quality of the fiber in the area of large curvature is poor. In addition, it is difficult to satisfy the directional deviation and the turning radius of the placement path at the same time, resulting in various placement defects. In this paper, the influence of surface curvature on path performance is studied and a new path planning method for complex surfaces with area partition is established. The distance between roller and the mold surface is used to estimate the fiber compaction quality and the fiber number placed simultaneously can be calculated by the surface curvature. The local direction deviation and steering radius are evaluated during the path generation process, and a new sector is partitioned when the evaluation results are out of constraints. The method fully considers the influence of compaction quality, direction deviation and turning radius on paving path, so that the placement quality and efficiency of the entire curved surface can be ensured. Simulations and experiments are completed on the winglet surface to verify the path planning method, and the results show that, by the proposed method, satisfactory component placement quality can be obtained on complex surface.
- complex surfaces /
- automated fiber placement /
- path planning /
- sector partition /
- performance constraints

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图 1 压辊与模具间的几何关系

Figure 1. Geometric relationship between pressure roller and mold

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图 2 压辊仿真与平面铺放实验

Figure 2. Pressure roller simulation and flat paving experiment

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图 3 初始路径生成方法示意图

Figure 3. Schematic diagram of initial path generation method

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图 4 铺放路径局部转弯半径估算方法

Figure 4. Estimation method of local turning radius of paving path

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图 5 黄金分割法优化局部铺放方向

Figure 5. Optimization of local paving direction using golden section method

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图 6 平行等距密化方法示意图

Figure 6. Schematic of parallel isometric densification method

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图 7 翼梢小翼曲面上的可铺放丝束数量分布

Figure 7. Distribution of the number of tows that can be paved on winglet surface

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图 8 翼梢小翼曲面上的铺层路径

Figure 8. Pavement path on winglet surface

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图 9 铺放路径性能仿真分析结果

Figure 9. Simulation analysis results of paving path performance

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图 10 实际铺放实验和铺放结果

Figure 10. Actual placement experiment and placement results

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表 1 压辊模型的主要参数

Table 1. Main parameters of pressure roller model

参数	压辊内径/mm	压辊外径/mm	压辊长度/mm	压辊轴弹性模量/MPa	压辊轴泊松比	模具弹性模量/MPa	模具泊松比
数值	40	85	130	210 000	0.3	210 000	0.3

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表 2 方向偏差、转弯半径和压实情况

Table 2. Direction deviation, turning radius and compaction

铺层角度/(°)	方向偏差/(°)	转弯半径/mm	压实距离/mm
0	9.8	1 557.4	1.2
45	9.6	1 530.9	1.3
-45	8.5	1 975.0	0.9
90	9.7	1 552.6	1.5

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