Thermoplastic composites are widely used in the manufacturing of composite components due to their fast molding speed and excellent mechanical properties. This paper proposes a robotic winding system based on the collaboration between a six-axis industrial robot and a positioner, aiming to achieve the automated winding of thermoplastic composites. The system integrates multi-physics control modules (tension, temperature, pressure) with an offline programming module, and combines the winding path generated by CADWIND to enable coordinated motion planning of the robot’s end-effector posture and the mandrel rotation angle. Traditional methods, when generating trajectories, assume a certain yarn suspension length, which may lead to the roller detaching from the mandrel and failure in molding.
