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<p>To address motion shock and trajectory discontinuity during the filament winding of composite pressure vessels with unequal polar openings, this study proposes an asymmetric envelope-based trajectory planning method based on B-spline curves. In this method, an envelope generatrix with asymmetric axial distribution is constructed so that a larger axial transition space is assigned to the side with the smaller polar opening, thereby compensating for its larger radial drop. A cubic B-spline curve is employed to parameterize the dome transition section, and G² geometric continuity is achieved at the junction between the cylindrical section and the dome section, which alleviates motion shock caused by curvature mutation. In addition, a geometric mapping model between the payout-point trajectory and the guide-head trajectory is established. By projecting the suspended-fiber direction onto the envelope surface, the spatial trajectory of the guide head is obtained, and the planar trajectory transformation and attitude-angle solution are further determined.</p>

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Trajectory planning for robotic filament winding of pressure vessels with unequal polar openings based on a B-spline asymmetric envelope

  • 期刊论文

  • 发表日期：

    2026年7月30日

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  • Hai Yang,
  • Zhibo Wang,
  • Jiazhong Xu,
  • Yu Zhang

摘要

To address motion shock and trajectory discontinuity during the filament winding of composite pressure vessels with unequal polar openings, this study proposes an asymmetric envelope-based trajectory planning method based on B-spline curves. In this method, an envelope generatrix with asymmetric axial distribution is constructed so that a larger axial transition space is assigned to the side with the smaller polar opening, thereby compensating for its larger radial drop. A cubic B-spline curve is employed to parameterize the dome transition section, and G² geometric continuity is achieved at the junction between the cylindrical section and the dome section, which alleviates motion shock caused by curvature mutation. In addition, a geometric mapping model between the payout-point trajectory and the guide-head trajectory is established. By projecting the suspended-fiber direction onto the envelope surface, the spatial trajectory of the guide head is obtained, and the planar trajectory transformation and attitude-angle solution are further determined.