This article presents an online three-axis non-uniform rational B-splines preprocessing and feedrate scheduling method with chord error, axial velocity, acceleration, and jerk limitations. A preprocessing method is proposed to accurately locate the critical points by reducing pre-interpolation feedrate in feedrate limit violation regions. In the preprocessing stage, the non-uniform rational B-splines curve is subdivided into segments by the critical points and the corresponding feedrate constraints are obtained. A sliding look-ahead window-based feedrate scheduling method is proposed to generate smooth feedrate profile for the buffered non-uniform rational B-splines segments. The feedrate profile corresponding to each non-uniform rational B-splines block is constructed according to the block length and the given limits of acceleration and jerk. The feedrate modification method for non-schedulable short blocks is also described which aimed at avoiding feedrate discontinuity at the junction of two non-uniform rational B-splines blocks. With the proposed method, a successful feedrate profile could be generated with sufficient look-ahead trajectory length in the buffer, which enables that the preprocessing and feedrate planning to be performed progressively online. Simulation and experimental tests with different non-uniform rational B-splines curves are carried out to validate the feasibility and advantages of the proposed method. The results show that the proposed method is capable of making a balance between the machining efficiency, machining precision, and computational complexity.
With the advantages of high specific strength and well corrosion resistance, polymer-matrix composite tee pipes are widely used in aerospace and civilian fields. The robotic filament winding technology is suitable for forming complex shape parts. This paper aims to provide a novel non-geodesic trajectory design method to get a continuous trajectory for tee pipe winding. Furthermore, post-processing methods are proposed for realizing the full coverage of tee pipes by robotic filament winding. The CAD/CAM software is then designed to simulate the winding process and realize the cover of the whole tee pipe. Finally, experiments of winding a tee pipe with a desktop winding machine and a six-axis winding robot are carried out. The results show that the tee pipe is fully covered, verifying the accuracy of the design method and post-processing methods.
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