Optimization of composite winding strategy based on robot

Different winding strategies of composite winding based on robot can influence the winding craft and kinetic stability of the robot. In order to get better winding strategy of the robot kinetic stability, composite winding workstation of industrial robot with 6 degree of freedom was studied, in which individually analyze the influence of enveloping form, length of the hanging filament, geodesic and non-geodesic winding etc. on the robot kinetic stability and the variation parameters. MATLAB was used to calculate robot winding tracks in different winding strategies and determine winding track after projecting. Joint simulation of robot winding dynamics based on ADAMS and MATLAB was conducted to obtain curves of each joint torque of the robot, then the influence of the winding track after projecting on the robot kinetic stability of was analyzed. The experiment of dry fiber winding of composite products was carried out. The winding experiment indicates the optimized winding method adopts to stabilize the winding pattern and has no slip yarn, overlapping, overhead and other phenomena in the winding process, and the winding precision completely meets the design requirements.