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Quaternion-based placement orientation trajectory smoothing method under the Domain of Admissible Orientation

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Abstract    

In automated fiber placement (AFP), the abrupt variations of orientations affect layup quality and kinematic performance. This paper proposes a quaternion-based orientation smoothing method constrained by the Domain of Admissible Orientation (DAO) to solve this problem. The DAO is the orientation domain attached to each orientation and defined by the interference avoidance and layup process constraints. All the placement orientations are interpolated into a quaternion curve, and the quaternion curve is smoothed by minimizing its energy function. The energy function is presented in three-dimensional (3D) space, so to facilitate this minimization, the DAO is also transformed into 3D space to constrain the orientation. Then, a spline shortcut generation (SPSG) algorithm is proposed to geometric smooth the curve by generating a spline passing through all DAOs. After that, a Resampling method nonlinearly optimizes the energy function by sampling the curve parameters to redefine the layup orientation within the DAO. Experiments show that the method effectively smooths the orientation trajectory under layup constraints and improves the kinematic performance of APF machines.

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Data availability

All data, models generated or used during the study appear in the submitted article.

Code availability

The codes used in this study are available from the corresponding author on reasonable request.

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Funding

This work is supported by the National Natural Science Foundation of China [No.52105535].

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Authors and Affiliations

  1. State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China

    Qian Yang, Weiwei Qu, Jiaxin Gao, Yanzhe Wang, Xiaowen Song, Yingjie Guo & Yinglin Ke

  2. Key Laboratory of Advanced Manufacturing Technology of Zhejiang Province, School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China

    Qian Yang, Weiwei Qu, Jiaxin Gao, Yanzhe Wang, Xiaowen Song, Yingjie Guo & Yinglin Ke

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  1. Qian Yang
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  2. Weiwei Qu
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Contributions

Qian Yang: writing original draf, methodology, experiment, writing-review and editing. Weiwei Qu: software, writing-review and editing. Jiaxin Gao: formal analysis, resources. Yanzhe Wang: writing guidance, validation. Xiaowen Song: writing guidance. Yingjie Guo: writing guidance. Yinglin Ke: supervison.

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Correspondence to Weiwei Qu.

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Yang, Q., Qu, W., Gao, J. et al. Quaternion-based placement orientation trajectory smoothing method under the Domain of Admissible Orientation. Int J Adv Manuf Technol 128, 491–510 (2023). https://doi.org/10.1007/s00170-023-11810-6

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