Calculation of the robot trajectory for the optimum directional orientation of fibre placement in the manufacture of composite profile frames

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F46747885%3A24510%2F15%3A%230001284" target="_blank" >RIV/46747885:24510/15:#0001284 - isvavai.cz</a>

Alternative codes found

RIV/46747885:24620/15:00001529

Result on the web

<a href="http://www.sciencedirect.com/science/article/pii/S0736584515000228" target="_blank" >http://www.sciencedirect.com/science/article/pii/S0736584515000228</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1016/j.rcim.2015.02.004" target="_blank" >10.1016/j.rcim.2015.02.004</a>

Result language

angličtina

Original language name

Calculation of the robot trajectory for the optimum directional orientation of fibre placement in the manufacture of composite profile frames

Original language description

This article deals with theissue of calculating the trajectory of the end-effector of an industrial robot in the manufacture of composites. In the introduction to the article we describe the basic approaches used in the manufacture of composites. Robots are used to define the winding orientation of carbon fibre strands on an uneven polyurethane 3D core. The core is attached to the robot-end-effector and is led through a fibre-processing head according to a suitably defined robot trajectory during dry carbon fibre winding on the core. The model of a passage of the polyurethane core through a fibre-processing head is described in the article. The placement of the fibre-processing head is defined in the basic Euclidean coordinate system E3 of the robot. The core is specified in the local coordinates of the Euclidean coordinate system E3, the origin of this local system is in the robot-end-effector. The positioning of the local system in the basic system of the robot is entered using the “tool centre point” of the robot. A matrix calculus is used when calculating the trajectory robot-end-effector to determine the desired passage of the core through the fibre-processing head. Gradually, the required rotation and translation matrices of the local coordinate system of the robot-end-effector relative to the basic system are calculated and subsequently the Euler angles of rotation are determined corresponding to the transformation matrices. This is used to determine the sequence of values of the “tool centre point” for defining the desired trajectory of the robot-end-effector. The calculation for the trajectory was programmed in the Delphi development environment. The calculations of the trajectory of the robot-end-effector were used as input values for the graphic software simulator and at the same time winding of carbon strands on the polyurethane core was verified for the calculated trajectory of the robot-end-effector in the experimental laboratory.

Czech name

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Czech description

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Type

J_x - Unclassified - Peer-reviewed scientific article (Jimp, Jsc and Jost)

CEP classification

BC - Theory and management systems

OECD FORD branch

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Project

Result was created during the realization of more than one project. More information in the Projects tab.

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Publication year

2015

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Robotics and Computer-Integrated Manufacturing

ISSN

0736-5845

e-ISSN

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Volume of the periodical

35

Issue of the periodical within the volume

10

Country of publishing house

US - UNITED STATES

Number of pages

12

Pages from-to

42-54

UT code for WoS article

000355046200003

EID of the result in the Scopus database

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