Linear Trajectory Planning of Hydrogen Storage Tank with Unequal Polar Holes

In this paper, the design and process research of uniform filling linear trajectory for filament wound hydrogen storage tank with unequal polar holes are carried out. Firstly, by optimizing the slip coefficient, the winding angles of the left and right heads are smoothly and continuously transitioned to the cylindrical section. We study the necessary conditions for achieving the central angle of uniform filling, and calculate the tangent points of the trajectory line based on the continuous fraction principle. Meanwhile, the slip coefficients at the left and right ends that satisfy stable winding and uniform covering are determined. Based on the equal contour constraint conditions, we analyze the motion trajectory equation of the four-axis winding machine and convert it into the corresponding machine code for actual winding operations. Experimental results show that stable winding of fibers on the surface of the unequal-polar-hole mandrel is achieved, and uniform filling and winding effects are obtained after a certain number of winding cycles. Simulation results show that the proposed design parameters and optimization algorithm are feasible and effective.