Abstract
A solution method for inverse kinematics of automated fiber placement (AFP) trajectory is proposed. The D-H method is used to establish the kinematical model of the AFP head, based on this kinematical model, the mathematical model of the forward solution of the AFP trajectory is constructed; The matrix equation is simplified to general polynomial equation group by using the tangent half-angle substitution method, the correct solution is automatically selected for the iteration according to the joint function of the AFP machine, and an effective algorithm for the reverse solution of the trajectory is obtained. Numerical simulation of the algorithm is carried out. The verification results show that the algorithm is feasible and effective.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Gong C, You Y (2006) Analytic method of automatic tow placement robot inverse kinematics problem. J Mech Eng Autom 2006(01):1–3
Lopes CS, Gürdal Z, Camanho PP (2008) Variable-stiffness composite panels: buckling and first-ply failure improvements over straight-fiber laminates. Comput Struct 86:897–907
Ge H, Ge X, Zhao D (2013) Study of robotic manipulators’ kinematics manipulability. J Zhengzhou Univ (Eng Sci) 34(02):121–124
Zhang X, Xie W, Hoa SV (2018) Semi-offline trajectory synchronized algorithm of the cooperative automated fiber placement system. Robot Comput Integr Manuf 51:53–62
Di Vito D, Natale C, Antonelli G (2017) A comparison of damped least squares algorithms for inverse kinematics of robot manipulators. IFAC-PapersOnLine 50:6869–6874
Baerlocher P (2001) Inverse kinematics techniques for the interactive posture control of articulated figures. Ecole Polytechnique Federal De Lausanne
Deo AS, Walker ID (1995) Overview of damped least-squares methods for inverse kinematics of robot manipulators. J Intell Rob Syst 14(1):43–68
Sugihara T (2011) Solvability-unconcerned inverse kinematics by the Levenberg–Marquardt method. IEEE Trans Rob 27(5):984–991
Singh S (2016) Singla E (2016) Modeling and simulation of basic robotic configurations using D-H parameters based adaptive modules. Perspect Sci 8(C):513–515
Wang N, Liu Y, Xiao J (2008) Fiber-placement path design for composite structures in pipy-form. J Comput-Aided Des Comput Graph 20(02):228–233
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Yao, K., Zhu, Y. (2020). Kinematics Numerical Inverse Solution Algorithm for Arm Type AFP Machine Based on D-H Modeling. In: Jia, Y., Du, J., Zhang, W. (eds) Proceedings of 2019 Chinese Intelligent Systems Conference. CISC 2019. Lecture Notes in Electrical Engineering, vol 593. Springer, Singapore. https://doi.org/10.1007/978-981-32-9686-2_19
Download citation
DOI: https://doi.org/10.1007/978-981-32-9686-2_19
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-32-9685-5
Online ISBN: 978-981-32-9686-2
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)