A Non-Geodesic Trajectory Design Method and Its Post-Processing for Robotic Filament Winding of Composite Tee Pipes
Cheng Chang, Zhenyu Han, Xinyu Li, Shouzheng Sun, Jihao Qin, Hongya Fu
Abstract
With the advantages of high specific strength and well corrosion resistance, polymer-matrix composite tee pipes are widely used in aerospace and civilian fields. The robotic filament winding technology is suitable for forming complex shape parts. This paper aims to provide a novel non-geodesic trajectory design method to get a continuous trajectory for tee pipe winding. Furthermore, post-processing methods are proposed for realizing the full coverage of tee pipes by robotic filament winding. The CAD/CAM software is then designed to simulate the winding process and realize the cover of the whole tee pipe. Finally, experiments of winding a tee pipe with a desktop winding machine and a six-axis winding robot are carried out. The results show that the tee pipe is fully covered, verifying the accuracy of the design method and post-processing methods.