Prediction method for offset compensation on three-dimensional mandrel with spatial irregular shape

In this paper, trajectory control of arbitrary shape mandrel in three-dimensional circular braiding is studied. To obtain accurate trajectory, offset of mandrel is predicted and compensated for trajectory of mandrel. Firstly, the equation of the force of all yarns on three-dimensional mandrel is given. Then offset of mandrel in single layer braiding machine is analyzed via finite element software. Learning these data via back propagation neural network algorithm, offset of mandrel at each moment is derived. The trajectory generation of three-dimensional mandrel based on offset compensation by roll pitch yaw transformation is given. Lastly, braiding angle for the mandrel is analyzed theoretically. In the practical engineering, this method is proven to effectively reduce the error of braiding angle and helpful for the precise control of the trajectory of arbitrary shape mandrel.