Robotic automatic laying out of parabolic carbon fiber products on a rigid mandrel

The existing technologies for the manufacture of composite materials using carbon fiber threads are analyzed in the article, on the basis of which 4 main technologies can be distinguished. One of the technologies based on the required characteristics of products was chosen, for which its own algorithmic support solving the following tasks was proposed: calculating the parameters of equidistant geodesic curves using the example of an elliptic paraboloid; correction of the obtained Cartesian coordinates of the trajectory points, taking into account the actual position and orientation of the mandrel surface relative to the robot; calculation of the values of robot’s angular axes corresponding to the given position and orientation of the robot’s executive link. The performance of the proposed algorithms was verified in full-scale tests using the KUKA KR6 R900 robot. Tests showed the operability of the developed algorithms for calculating the trajectories of the laying out of carbon fiber products with their subsequent transformation into a sequence of values of the robot’s rotary axes.