Abstract: In order to realize the high-quality formation of filament-wound composite pipes, the fiber tension plays a key role and the degree of the tension fluctuation directly affects the performance of composite pipes molding. In order to reduce the differences between the tension levels in the winding process, the impacts of the fiber tension should be taken into account when the winding trajectory is projected and the method of adding the preset tension load to the end of the manipulator ought to be proposed. Also, establishing a wound model of sixfreedomdegrees’robotic arms and using the kinematic equations to find solutions. Meanwhile, needing to design a winding track by means of establishing a MATLAB and ADAMS cosimulation platform and the winding track affected by the tension issimulated. At the same time, it’s also necessary to perform the winding experiment about the composite pipe fiber with or without tension load at the end of the mechanical arms. Finally, the simulation results suggest that the winding trajectory under the tension load can effectively restrain the fluctuation of the tension in the winding process.

Key words: fiber tension, composite material pipe, winding trajectory, manipulators, simulation analysis