碳纤维立体织物钢针置换双机器人协同路径规划研究

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中图分类号：TP271;TP242 文献标志码：B 文章编号：1671-5276（2025)05-0202-06

Research on Collaborative Path Planning of Dual Robots in Steel Needle Replacement in Carbon Fiber Fabric

WANG Kaiyang,LUO Fuyuan,SU Shenglin,XIONG Feng

CollegeofMechanicalandElectricalEngineering，Nanjing UniversityofAeronauticsandAstronautics，Nanjing2116，China）

Abstract:Inordertorealize theautomaticreplacementof steelneedlesinthree-dimensionalfabricsincarbonfiber fabrics，an improvedRRT-PSOalgorithmis proposed.The probability factoris introduced inthe Bi-RRTalgorithm， facilitaing thealgorithmto haveorientationandaccelerating theconvergencespedof the algorithm.After the planis completed,PSO algorithm is used to optimize path point reducing thepath length.With Beziercurve，pathoptimization is conducted toimprove the smoothnessof the path and form the final path.The improved RRT-PSO algorithm is apliedto the automatic replacement linkof the dualrobotic stel nedle.The dual robot adopts the main movement mode of the main motion，andthepathof thehost robotis firstplanned，andthenthehost robotisusedasaspaceobstacle to plan fromtherobot path.The algorithm simulation verifies theefectivenessof theimprovedRRT-PSOalgorithm in the automatic replacement link of the carbon fiber three-dimensional fabric steel needle.

Keywords:three-dimensional fabrics;needle replacement;path planning;dual robot;RRT

0 引言

以碳纤维立体织物为增强体的复合材料具有高强度、高抗冲击性能、高温透波等优良特性，在航空航天、军工和高端制造业领域中被广泛应用[1-2]。（剩余12052字）