关键词: 自动铺丝机, 多体系统理论, 空间误差模型, LM算法, 参数辨识

Abstract: To reduce the spatial error of heavy gantry-type automated fiber placement machine and improve the quality of composite material laying and forming,the methods of spatial error modeling and parameter identification were proposed.The composition factors of the spatial error were analyzed.According to the multi-body system theory,the theoretical kinematics model and the actual kinematics model of automated fiber placement machine were established and then the spatial error model of the end of automated fiber placement machine was established.The third-order Chebyshev polynomial was used as the basis function to express the PDGE errors,and the spatial error component with undetermined error parameters was determined.The optimization objective function of the spatial error parameter identification of automated laying machine was established,and Levenberg-Marquardt (LM) algorithm was used to solve the unconstrained nonlinear least squares optimization problem,and 162 error model parameters were obtained.By measuring the diagonal line of the working space of the automated fiber placement machine and the laying path of the ARJ21 wingtip wing panel,the validity of the error modeling and parameter identification method was verified.

Key words: automated fiber placement machine, multi-body system, spatial error model, Levenberg-Marquardt algorithm, parameter identification