Filament winding: kinematics, collision control and process optimisation through application of dynamic programming

In this paper we evaluate the complete set of kinematic equations for the lathe winder on an entirely analytical way, provide a simplified methodology for enhancing collision control and assess a straightforward production optimisation method. The latter is based on both collision-related and dynamic constraints. The production time is here minimised by means of dynamic programming, applied on a reduced grid that represents the discretised control variables. The outlined methods are evaluated through simulation and experiments. Despite the accuracy of the kinematic solutions and the existence of predetermined collision boundaries, the optimiser shows considerable grid sensitivity. However, even within a relatively coarse grid, a production time reduction of almost 40% can easily be achieved. Nevertheless, more efforts should be done for improving the grid selection strategy.