Mathematical modeling of the trajectories of the working elements’ motion in a robotic laying system with CNC in the process of automating the technological preparation of the production of load bearing structures for the wing of the MS 21 aircraft

Аuthors

Marinin V. I.^1*, Abramenkov G. V.², Lysogorsky K. A., Savin A. G.^1**

1. Platov South-Russian State Polytechnic University (NPI), 132, Prosvesheniya str., Novocherkassk, 346428, Russia
2. ,

*e-mail: marinin_vi@npi-tu.ru
**e-mail: savin_alexandr@mail.ru

Abstract

The development of additive technologies and the increasing degree of automation in the production of aviation equipment components from polymer composite materials require the use of appropriate automated equipment with numerical control. This entails the need to develop new specialized software and mathematical support, in particular, postprocessors for multi‑axis complexes. The article examines the solution to the inverse kinematics problem for a robotic laying complex with numerical control, designed for the production of load‑bearing structures of the wing of the MS‑21 aircraft (stringers and spars). A mathematical model of the complex is presented in the form of a system of nonlinear differential equations, which makes it possible to simulate the trajectory of the movement of the complex’s working elements and to obtain the results of numerical experiments. The proposed calculation model was implemented in software and used in special software and mathematical support for the system of automatic laying of dry carbon tape for creating preforms of parts manufactured from polymer composite materials using the high‑temperature vacuum infusion method. The model was qualitatively validated during real acceptance tests and during the industrial operation of the software for the automatic laying system.

Keywords:

mathematical modeling, robotic laying system, automated preparation of control programs, automated laying

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