Carrier-track system modeling and key parameters design for three-dimensional spherical braiding machine

To improve the stability during carrier exchange process in the three dimensional spherical braiding machine, the theoretical design method of key structural parameters of carrier-track system is proposed. By analyzing carrier ideal exchange motion mechanism, a kinematics model is established based on spatial mapping relationship. Forward kinematics method is applied to solve the model, thereby calculating key structural parameters for each component in carrier-track system. Finally, software simulation and experimental comparisons verify motion characteristics of carriers under theoretical design and traditional empirical design. Results show that with proposed method, motion states of carrier base and yarn delivery port become more stable compared to empirical design, while fluctuations in chain line are reduced. This research provides important theoretical basis for braiding machine design.