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

摘要： 针对七轴龙门式自动铺丝机运动过程中,因采用连续短线段的轨迹描述方式而产生的拐点速度不连续的问题,提出基于柔性加减速控制的拐点光顺插补算法。在该插补算法中,首先改进三次Bernstein-Bézier曲线,使其能用3个控制顶点进行定义,然后使用该曲线连接相邻短线段,以保证铺放路径切向连续、曲率连续。利用轨迹误差和曲线性质确定控制顶点的位置,最后在柔性加减速控制方法的基础上对“直线段+过渡曲线段”的铺放路径进行插补运算,并采用标注协调点的方法保证机床在各插补运算阶段的速度和加速度连续。通过仿真分析,表明该插补算法能够保证机床在整个铺放路径上快速平稳运动。

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