Trajectory Planning for Winding Carbon Wire of Composite Structures Using Cooperative Robots

摘要

In this paper are presented aspects concerning robots trajectory planning for winding carbon wire around of a die, to obtain a composite structure which is used in automotive industry. One of the goals of the research is to realize parts using robots for creating one part and in the same time to optimize the cycle time comparing with manual method. Another goal of this study is to obtain a high accuracy of robot trajectory. This aspect is important because the shape of the final die is asymmetric and the robot tool must travel through small area. In this study are proposed new methods of robots cooperation and trajectory planning. For higher accuracy of the trajectory was introduced the virtual space for designing and testing the trajectory and then transpose in real space. Furthermore are carried out tests to prove the efficiency of proposed method.