Industrial robots are now used in a wide range of manufacturing processes. The increasing demands on quality and the complexity of the processes cannot always be met by the range of functions that are available in numerical control systems. In the coreless winding of fiber-polymer composites, it is important to keep the roving tension as constant as possible while maintaining a high processing speed. Currently, the winding paths are programmed via a number of control points. This results in a trade-off between lower process properties and higher processing speed with fewer control points. Conversely, finer interpolation of the path can improve process characteristics at lower processing speeds. With interpolation methods that are adapted to the process, new possibilities open up to overcome these trade-offs. This paper presents a spline path planning algorithm based on clothoids. This algorithm considers both the process requirements and the dynamic characteristics of the manufacturing unit. Furthermore, the algorithm is validated on a test contour and compared with established commercial methods.
%0 Conference Paper
%1 10312385
%A König, Timo
%A Verl, Alexander
%A Lechler, Armin
%B IECON 2023- 49th Annual Conference of the IEEE Industrial Electronics Society
%D 2023
%K Algorithms Interpolation Manufacturing Robots Winding isw peer rp14
%P 1-6
%R 10.1109/IECON51785.2023.10312385
%T Cornuspline Path Planning Algorithm for the Fabrication of Coreless Wound Fiber-Polymer Composite Structures
%X Industrial robots are now used in a wide range of manufacturing processes. The increasing demands on quality and the complexity of the processes cannot always be met by the range of functions that are available in numerical control systems. In the coreless winding of fiber-polymer composites, it is important to keep the roving tension as constant as possible while maintaining a high processing speed. Currently, the winding paths are programmed via a number of control points. This results in a trade-off between lower process properties and higher processing speed with fewer control points. Conversely, finer interpolation of the path can improve process characteristics at lower processing speeds. With interpolation methods that are adapted to the process, new possibilities open up to overcome these trade-offs. This paper presents a spline path planning algorithm based on clothoids. This algorithm considers both the process requirements and the dynamic characteristics of the manufacturing unit. Furthermore, the algorithm is validated on a test contour and compared with established commercial methods.
@inproceedings{10312385,
abstract = {Industrial robots are now used in a wide range of manufacturing processes. The increasing demands on quality and the complexity of the processes cannot always be met by the range of functions that are available in numerical control systems. In the coreless winding of fiber-polymer composites, it is important to keep the roving tension as constant as possible while maintaining a high processing speed. Currently, the winding paths are programmed via a number of control points. This results in a trade-off between lower process properties and higher processing speed with fewer control points. Conversely, finer interpolation of the path can improve process characteristics at lower processing speeds. With interpolation methods that are adapted to the process, new possibilities open up to overcome these trade-offs. This paper presents a spline path planning algorithm based on clothoids. This algorithm considers both the process requirements and the dynamic characteristics of the manufacturing unit. Furthermore, the algorithm is validated on a test contour and compared with established commercial methods.},
added-at = {2024-03-26T10:41:04.000+0100},
author = {König, Timo and Verl, Alexander and Lechler, Armin},
biburl = {https://puma.ub.uni-stuttgart.de/bibtex/2da33bcb1cf51be2dd31953317379b853/isw-bibliothek},
booktitle = {IECON 2023- 49th Annual Conference of the IEEE Industrial Electronics Society},
doi = {10.1109/IECON51785.2023.10312385},
interhash = {01f86c45260c3fac81e79d722df3c457},
intrahash = {da33bcb1cf51be2dd31953317379b853},
issn = {2577-1647},
keywords = {Algorithms Interpolation Manufacturing Robots Winding isw peer rp14},
month = {10},
pages = {1-6},
timestamp = {2024-03-26T10:47:21.000+0100},
title = {Cornuspline Path Planning Algorithm for the Fabrication of Coreless Wound Fiber-Polymer Composite Structures},
year = 2023
}
