宇航材料工艺2025，Vol.55Issue(2)：27-34,8.DOI:10.12044/j.issn.1007-2330.2025.02.004
面向环形编织的芯轴牵引轨迹生成与采样算法
Mandrel Traction Trajectory Generation and Sampling Algorithm for Circular Braiding
摘要
Abstract
In order to improve the accuracy of circular braiding,an algorithm to generate the mandrel traction trajectory according to the mandrel shape and the target braid angle was proposed.In the trajectory generation stage,the changes in the length and angle of the convergence zone in the transient process were considered,and a dynamic braiding model was proposed to improve the generation accuracy of the traction trajectory.In the trajectory sampling stage,the spatial characteristics and speed characteristics of the trajectory were considered at the same time,and an adaptive sampling algorithm was used to make the sampled trajectory as close to the original trajectory as possible to ensure the final braiding accuracy.Simulation and physical tests show that for complex mandrels and non-constant target braid angles,the algorithm in this paper has a smaller braid angle error.关键词
环形编织/编织角/机械臂/轨迹采样Key words
Circular braiding/Braid angle/Robot/Trajectory sampling分类
轻工业引用本文复制引用
茅睿浩,樊臻,张森林..面向环形编织的芯轴牵引轨迹生成与采样算法[J].宇航材料工艺,2025,55(2):27-34,8.基金项目
浙江省"尖兵""领雁"研发攻关计划项目-智能制造与高端装备专项(2022C01237) （2022C01237）
