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Trajectory planning of cooperative robotic system for automated fiber placement in a leader-follower formation

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Abstract

This work investigates a leader-follower trajectory planning strategy in a 13-DOF (degree of freedom) cooperative robotic system for automated fiber placement (AFP). A 6-DOF serial robot with an AFP head is employed as the leader, while a 6-RSS (revolute-spherical-spherical) parallel robot holding a Y-shape mandrel through a 1-DOF rotary stage serves as the follower. Due to the fact that the dynamic and kinematic constraints of the serial robot may interrupt the fiber layup process, a time-jerk optimal trajectory planning scheme for the serial robot is designed. Considering a desired 0° fiber path, an optimal trajectory can be generated for the AFP head subject to the robot dynamic and kinematic constraints. However, the AFP head path could be deviated from the pre-planned fiber path, and the AFP head roller direction may not meet the requirement of keeping perpendicular to the mandrel surface. To compensate the serial robot motion and satisfy the AFP geometric constraints, a vision-based trajectory generation approach is developed for the parallel robot using a photogrammetry sensor C-Track 780. Based on the visual measurement results, the desired parallel robot trajectory can be determined according to the desired trajectory of the start point on the given fiber path. Experiments have been done to validate the effectiveness and superiority of the proposed strategy.

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Funding

This work was funded by the Natural Sciences and Engineering Research Council of Canada (NSERC) under Grant N00892.

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Authors and Affiliations

  1. Department of Mechanical, Industrial and Aerospace Engineering, Concordia University, Montreal, Quebec, H3G 1M8, Canada

    Ningyu Zhu, Wen-Fang Xie & Henghua Shen

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  1. Ningyu Zhu
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  2. Wen-Fang Xie
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  3. Henghua Shen
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Contributions

Ningyu Zhu: methodology, investigation, experimental validation, and manuscript writing. Wen-Fang Xie: supervision, project administration, and manuscript review. Henghua Shen: experimental validation and manuscript review.

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Correspondence to Wen-Fang Xie.

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Zhu, N., Xie, WF. & Shen, H. Trajectory planning of cooperative robotic system for automated fiber placement in a leader-follower formation. Int J Adv Manuf Technol 130, 575–588 (2024). https://doi.org/10.1007/s00170-023-12694-2

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