Post Processing Technology for Fiber Placement Machine of Manipulator Terminal Motion Trajectory

Based upon mandrel and the known placement path,post-processing algorithm of fiber placement equipment was studied in this paper.By analyzing the movement of placement machine,seven joints of this kind of redundant robot was separated into two components: spindle joint and mechanical arm.The solutions of mechanical arm six-joint variables were derived by Building coordinate system by robotic interrelated principle according to kinematics forward and reverse solution of robot.Discriminating placement trajectory spiral direction by the method of vector projection was proposed.At the same time,the preprocessing method of placement trajectory was presented systematically to realize moving simulation of placement process.Relationships between placement head angle parameter and position parameter,and reasonable range of placement head angle parameter were analyzed systematically.In order to achieve placement simulation results of placement procession,preprocessing method for the placement trajectory was described.Finally,the validity of post-processing algorithm and preprocessing method for the placemen trajectory was tested and verified through placement process simulation.