Based on a typical 7-axis Automated Fiber Placement (AFP) machine, characters and tow reloading problems in delivering impregnated tows are analyzed. To achieve the stability in the delivering process and flexibility of the robotic arms, improved AFP structures with a redundant Degree Of Freedom (DOF) system is proposed. With the further study of the improved structure of AFP (one redundant DOF) machine, the mathematics model by the D-H method is analyzed and established; resolving the current kinematic problems. The improved AFP has one redundant DOF, the D-H method is used in sectional structures, and constraint condition in optimal solution deriving. According to the kinematic solutions information of the improved structure, the AFP simulation system is developed, which is used to verify feasibility of the improved structure when being applied to a complex surface.
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