关键词: 自动铺丝机, 拐点光顺, 曲率连续, 七轴龙门式, 插补算法

Abstract: Aiming at the problem that the speed of inflection point was discontinuous when the seven-axis gantry Automated Fiber Placement (AFP) machine had moved on a path consisting of continuous short line segments,an infection point smooth interpolation algorithm based on flexible Acceleration and Deceleration (Acc/Dec) control was proposed.In the interpolation algorithm,the cubic Bernstein-Bézier curve was improved,which could be defined by three control vertices.Then the curve was used to connect adjacent short line segments to ensure that the placement path was tangentially continuous and the curvature was continuous.The trajectory error and the nature of the curve were used to determine the position of the control vertices.Based on the flexible acceleration and deceleration control method,the interpolation path of the “straight section and transition curve section” was interpolated,and the method of labeling coordination points was adopted to ensure that the speed and acceleration of the machine tool were continuous in each interpolation operation stages.The simulation analysis results showed that the interpolation algorithm could ensure the machine continues to move smoothly throughout the entire placement path of the machine.

Key words: automatic fiber placement machine, inflection point smoothing, continuous curvature, seven-axis gantry, interpolation algorithm