| description abstract | Abstract. To address the challenge of trajectory deviation during automated tape laying (ATL) on variable-curvature inclined surfaces in aerospace applications, and to overcome the limitations of existing correction mechanisms in terms of flexibility and stability, this study proposes a novel swing-translation hybrid correction (STHC) mechanism. First, based on an analysis of functional requirements for tape correction, the design requirements for the STHC mechanism are identified. Second, a synthesis method for swing-translation hybrid motion mechanisms based on trajectory guidance supplemented by virtual constraint enhancement is proposed. Based on this approach, a 2R2P–RP–P configuration with a symmetric structure and favorable stability is designed. Subsequently, the kinematic performance of different links in this configuration as actuated joints is analyzed to identify the driving joints that meet the requirements for motion symmetry, and then design a compact STHC mechanism. Then, a kinematic theoretical model of the STHC mechanism in correcting the position of the tape is established, and its correctness is verified through finite element simulation. Finally, a prototype of the STHC mechanism is developed and integrated into an ATL application platform. Experimental results demonstrate its excellent motion performance and tape correction capability. This study provides a novel solution for the automated forming of composite materials on variable-curvature inclined surfaces, highlighting its significant practical application value. | |
