Configuration Improvement of ATL Mechanism Applied to Hyperbolical Surface

According to the charactistic of prepreg in tape-laying,effect of the processing pressure on craft process of automatic tape-laying(ATL) and final product is presented.The charactistic of hyperbolical curvature surface is analyzed.The problem traditional 5-axis ATL machine encountered and countermeasure is presented.As traditional ATL machine lack of pitch degree of freedom,the pressure orientation of its header can not be perpendicular to the mold surface.To solve this problem,a 6-axis ATL mechanism is put forward.The feasibility and reasonableness of the new mechanism to process hyperbolical curvature surface is analyzed,and the superiority compared with 5-axis ATL machine is also deduced.Configuration mathematic model is established and kinematic problems are analyzed based on D-H method.The visual simulations of this new automated tape laying equipment and a case study of a typical hyperbolical are achieved.At last the new tape laying mechanism applied to the hyperbolical surface is verified.