When the roving is winding on the die, the tension value may move away the nominal one that has been optimized by considering the quality and the mechanical properties of the wound composite parts. The variance of the tension value during winding from the nominal one strongly depends on the deposition head trajectory. The present work focuses on the planning of the winding trajectory for winding complex shape parts in composite material by a robotized cell. The planning of the winding trajectory should be based on the structural constraints of the robotized cell and on the technological requirements of the process. In particular, this work aims to study the conditions by which the value of the roving tension verges on the nominal one during winding. The developed planning logics and implemented by a CAD/CAM software have been validated by experimental tests. This work represents the first step towards the optimization of the winding trajectory.

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