Research on winding trajectory planning for elbow pipe based on industrial robot

  • Jiazhong Xu
  • Hai Yang
  • Meijun Liu
  • Jiande Tian
  • Baoquan Liu


The geodesic winding trajectory for six degrees of freedom industrial robot with a composite elbow is studied. The parameter variation caused by the enveloping form, length of the hanging filament, and geodesic winding is considered, and the resulting influences on kinetic stability of the robot elbow winding are analyzed. Then the winding trajectories of a robot elbow with different winding strategies are calculated, and the well planned winding trajectory of the elbow is given. Based on a closed loop simulation system which is composed of ADAMS and MATLAB, the elbow winding motion and the robot winding motion space prediction simulation is carried out. After the simulation, a post-processing is used on the elbow planning winding trajectory, and then an executable instruction document of the robot elbow winding was generated. Finally, an experiment on the composite elbow dry fiber winding is used to show that the designed winding trajectory of a composite elbow can stabilize the winding pattern; also, the slip yarn, overhead, and other problems are avoided. In addition, the winding precision completely meets the design requirements. The movement of the robot is smooth, and the actual workspace of the robot elbow winding trajectory is consistent with the simulation workspace.


Composite Elbow winding Trajectory planning Robot Joint simulation 


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Copyright information

© Springer-Verlag London 2017

Authors and Affiliations

  • Jiazhong Xu
    • 1
  • Hai Yang
    • 2
  • Meijun Liu
    • 2
  • Jiande Tian
    • 3
  • Baoquan Liu
    • 3
  1. 1.School of AutomationHarbin University of Science and TechnologyHarbinChina
  2. 2.School of Mechanical EngineeringHarbin University of Science and TechnologyHarbinChina
  3. 3.Sino Rubber Technology Co., LtdHengshuiChina

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