提出一种固定式自动铺放系统，通过力控与温控保障碳纤维复合材料铺放质量。
An Automated Tape Laying System Employing a Uniaxial Force Control Device
- 采用固定铺放头+移动工件的机器人控制方案，适配复杂曲面。
- 集成轴向力控与精确温控，确保铺放时层间熔合充分。
- 实验验证碳纤维/HDPE复合带材在真实工况下的可靠铺放性能。
本文设计了一种成本低廉的自动化铺带系统（ATL系统），集成单轴力控装置以确保必要的压实力，并具备精确温控能力，保障铺放带材充分熔化。为实现不同层之间的最佳固结，必须将基底和来料带材控制在特定温度水平。整个工艺流程从卷绕带材开始，经由带材储料卷、导引辊、带材处理单元、加热区直至压实单元，完成最终铺放到模具上。此外，提出了用于测试该系统的特殊机器人控制概念。与多数系统不同，本方案中铺放装置空间固定，工件形状随机器人移动而变化，从而可处理紧凑且复杂的几何形状。各子系统功能及铺放过程的可行性已在实验中得到验证，所用材料为碳纤维增强的高密度聚乙烯（HDPE）带材。
原文摘要 · Abstract (English)
This paper deals with the design of a cost effective automated tape laying system (ATL system) with integrated uniaxial force control to ensure the necessary compaction forces as well as with an accurate temperature control to guarantee the used tape being melted appropriate. It is crucial to control the substrate and the oncoming tape onto a specific temperature level to ensure an optimal consolidation between the different layers of the product. Therefore, it takes several process steps from the spooled tape on the coil until it is finally tacked onto the desired mold. The different modules are divided into the tape storage spool, a tape-guiding roller, a tape processing unit, a heating zone and the consolidation unit. Moreover, a special robot control concept for testing the ATL system is presented. In contrast to many other systems, with this approach, the tape laying device is spatially fixed and the shape is moved accordingly by the robot, which allows for handling of rather compact and complex shapes. The functionality of the subsystems and the taping process itself was finally approved in experimental results using a carbon fiber reinforced HDPE tape.
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