摘要
基于七自由度复合材料纤维铺放机器人,对铺放过程中可能出现的碰撞干涉情况进行分析,建立了铺放机器人三维数字化模型,研究了基于实体布尔运算的碰撞干涉检测算法。基于CATIA CAA平台开发了碰撞干涉检测模块,集成于复合材料纤维自动铺放编程软件中,对某型飞机进气道的铺放过程进行了仿真,结果证明本文提出的算法可有效地检测碰撞与干涉。
Based on 7-axis robot for auto composite fiber placement, the collision and interference between the machine and the core model are analyzed. The digital model of the fiber placement robot is established and the inspection algorithm is studied based on Boolean operation of solid models. Based on CATIA CAA, the collision and interference inspection module is developed and is integrated into the automatic composite fiber placement programming software. The collision and interference inspection and simulation are carried out for the fiber placement process of an airplane inlet part. The result verifies the feasibility of the collision and interference inspection algorithm.
出处
《宇航材料工艺》
CAS
CSCD
北大核心
2007年第2期51-54,共4页
Aerospace Materials & Technology
基金
国家"863"高技术发展计划资助项目(2002AA334130)
关键词
复合材料
纤维铺放
机器人
碰撞干涉
布尔运算
CATIA
CAA
Composite material, Fiber placement, Robot, Collision and interference, Boolean operation, CAT- IA, CAA
