TRAJECTORY PLANNING IN ROBOTIZEDFILAMENT WINDING BY OFFSETTING DIEBOUNDARY TO CONTROL ROVING TENSION

摘要

Robotized filament winding technology involves a robot that winds a rovingimpregnated by resin on a die along the directions of stresses the work-piece is submitted inexercise. The robot moves a deposition head along a winding trajectory in order to depositroving. Trajectory planning is a critical aspect of robotized filament winding technology,since it is responsible for both the tension constancy and the winding time.The present work shows an original method to determine a winding trajectory that assures thewinding tension keeps near to the nominal value. The trajectory is determined as offset of theboundary curve of the winding die along a direction perpendicular to roving stratificationorientation. This trajectory allows to satisfy the constraints on geometrical parameters ofwinding trajectory (I.e. safety distance and winding angle) in order to keep the value oftension near to the nominal one during winding. This means to assure an acceptable qualityof the manufactured composite parts.