Method for controlling the depositing of bundles by winding or contact with structures of large dimensions, and machine for carrying out the method

摘要

The depositing is carried out on a chuck (1) which rotates around an axis (&thetas; ), using a deposit head (6). The head (6) is adjusted in position along at least a first rectilinear displacement axis (X) parallel to the rotational axis (&thetas; ) of the chuck (1) and a second rectilinear displacement axis (Y) orthogonal to the chuck axis. The method includes the following stages: - use as master axis the rotational axis (&thetas; ) of the chuck (1), and link the other axes (X,Y, beta , SIMILAR g, 8, 9) to the master axis ( SIMILAR h); - control the master axis ( SIMILAR h) by speed steps according to a pre-determined programme; - from a previously established trajectory table (21) which integrates the kinematics of the master axis and which gives for the slave axes the step values corresponding to pre-determined angular positions of the master axis, control the slave axes as a function of the angular position of the master axis. From the instantaneous position of the master axis (6),calculate, using the trajectory table (21), for each instantaneous position, the step values of each slave axis and apply these values to the salve axes.