Journal of the Brazilian Society of Mechanical Sciences and Engineering (2019) 41:576

https://doi.org/10.1007/s40430-019-2083-2

TECHNICAL PAPER

A geometric approach for filament winding pattern generation

and study of the influence of the slippage coefficient
I. H. Dalibor1 · T. V. Lisbôa2,3 · R. J. Marczak3 · S. C. Amico1,3

Received: 12 June 2019 / Accepted: 13 November 2019 / Published online: 21 November 2019
© The Brazilian Society of Mechanical Sciences and Engineering 2019

Abstract
A special feature of the Filament Winding (FW) process is known as pattern: diamond-shaped mosaic that results from the
sequence of movements of the mandrel and tow delivery eye. One of the main factors to generate different patterns is the
return path of the tow and, for a non-geodesic trajectory, the path depends on the friction between tow and mandrel. Aiming
at a practical description of the FW process, a novel geometric approach on pattern construction is presented. Pattern genera-
tion, skip configurations and definitions of geodesic and non-geodesic trajectories in regular winding and return regions are
described based on developed surfaces, residue classes and modular arithmetic. The influence of mandrel’s length, mandrel’s
rotation angle and variation of the winding angle in the return region are presented, for they are important parameters of the
process. Examples of winding angle, mandrel rotation and non-geodesic path in cylindrical and non-cylindrical surfaces of
revolution are shown and discussed.

Keywords Filament winding · Slippage coefficient on return path · Geodesic and non-geodesic trajectories · Geometric
based pattern generation

1 Introduction simultaneously wound. The delivery eye positions the tow in

a particular winding angle—angle between the tangent to the
Filament Winding (FW), a widespread manufacturing winding path and the axis of rotation—which is determined
process for composite materials, is usually applied to the by the ratio of the mandrel’s angular velocity and the longi-
production of parts of revolution, such as tubes, shafts and tudinal velocity of the delivery eye. From the three winding
pressure vessels [1–4]. Albeit the relative simplicity, opti- modes: hoop, polar and helical, only with the first does not
mal parameters are not always obtained due to the lack of generate the pattern.
detailed knowledge of the process [5]. In FW, the tow is The pattern is the mosaic arrangement of diamond shapes
led by a delivery eye moving in a parallel (or near paral- formed on the periphery of the wound part. They are gen-
lel) direction to the rotation axis of the mandrel from one erated due to the repetitive and regular movement of the
end to another and then backwards, so that two layers are helical winding. Even with the same amount of material
and nearly the same production time, different patterns may
Technical Editor: João Marciano Laredo dos Reis. impact the components’ mechanical response, depending on
the loading. Rouseau et al. [6] have carried out an extensive
* T. V. Lisbôa study on the effect of the pattern, i.e. the degree of inter-
taleslisboa@daad‑alumni.de weaving, on the damage behaviour of wound tubes under
1
PPGE3M, Federal University of Rio Grande do Sul, Av. different loads. The pattern has been reported to influence
Bento Gonçalves, 9500, Porto Alegre, RS CEP 91501‑970, internal pressure [7, 8], compressive strength [9], but not
Brazil buckling behaviour [10]. The divergence may be caused by
2
Mechanics and Composite Materials Department, the algorithms used by a particular CAM software. Conse-
Leibniz-Institut für Polymerforschung, Hohe Straße 6, quently, it becomes imperative to understand precisely the
01069 Dresden, Germany formation of the pattern in order to select a suitable one for
3
PROMEC, Federal University of Rio Grande do Sul, Rua each specific usage. A detailed description of the pattern
Sarmento Leite, 425, Porto Alegre, RS CEP 90050‑170, generation is difficult to find in the literature.
Brazil

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576 Page 2 of 16 Journal of the Brazilian Society of Mechanical Sciences and Engineering (2019) 41:576

The objective of this work is to introduce a novel con- manipulation of the equation that links the pattern and the
cept applied to the FW process based on geometric aspects possible dwells angles.
and the sequence of its main movements, aiming at provid-
ing practical and a straightforward approach to the process.
The pattern generation, the influence of the return region 2 Pattern generation
and the slippage coefficient on the process are highlighted.
The technique adopts developed surfaces of revolution, resi- 2.1 The pattern and properties
due classes, modular arithmetic and differential geometry
in order to present the concepts and to prove properties. Figure 1 shows examples of diamond-mosaic figures called
A comparison with the procedure used in most of CAMs, pattern. Both were produced by using nearly the same
based on the solutions of Diophantine equations [1, 11], manufacturing parameters, such as winding angle, man-
is also shown. The novelty of the idea introduced herein drel’s radius and number of tows on the periphery. Due to
relies on an alternative equation to govern pattern genera- the inherent properties of the process, an integer number of
tion, which allows different patterns to be created based on diamond-shaped forms are developed in the periphery of
the same parameters, such as number of tows and winding the mandrel along the circumferential direction. This integer
angle, which could not be achieved through the Diophantine classifies the pattern, i.e. Fig. 1a, b shows patterns ‘5’ and
approach [12]. ‘9’, respectively. Furthermore, given the triangle congru-
The approaches available to create wound surfaces are ences generated by diamond-shaped forms, the same num-
based on Diophantine equations and their solutions, whereas ber of diamond-shaped forms is observable in the mandrel’s
the introduced methodology is based on modular arithmetic axial direction, inside a tow pitch of the helical path.
to obtain different solutions. Simple and general cases of Each diamond of the pattern can be divided in two main
pattern generation are presented and the process’ character- triangles, as shown in Fig. 2. The left and right sides have
istics are defined and discussed. The equations of geodesic winding angle +𝛼 and −𝛼 at the top surface, respectively.
and non-geodesic trajectories are demonstrated and applied At the bottom (internal surface), the tow presents opposite
to two examples: cylindrical and non-cylindrical surfaces winding angles. In each triangle, three different regions
of revolution. The required tow length, mandrel’s rotation are identified as [9]: RL—the region similar to a regular
and additional length due to the return region as well as the antisymmetric laminated ply, CCO—the region influenced
variation of the winding angle in the non-geodesic path are by the crossing of the tows in a zig-zag line, known as cir-
also determined. cumferential crossover circles, HCO—the region influenced
This paper is divided into five sections and one “Appen- by the outer borders called helical crossover circles. Moreo-
dix”. The second presents the geometric approach for the ver, in Fig. 2, the dashed lines are divisions of an arbitrary
pattern generation. The third shows the determination of diamond of the wound part and the solid lines define the
several parameters of the geodesic and non-geodesic trajec- actual entanglement region. In the HCO region, the lines
tory on surfaces of revolution. The fourth is devoted to some define a tow centroid while in the CCO region, they deter-
results and discussion. At the fifth section, the conclusions mine the division of each triangle passing through the zig-
are presented. “Appendix” presents the detailed algebraic zag region.

Fig. 1  Wound parts on the

same mandrel with almost the
same manufacturing parameters
where a has 5 diamonds (with
9 tows in each diamond) and b
has 9 diamonds (with 5 tows in
each diamond) on the mandrel’s
periphery

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+ modular geometry). Figure 2 shows a laminate and the

stacking of [the left and
] right
[ triangles
] of the diamond is a
multiple of +𝛼∕ − 𝛼 n and −𝛼∕ + 𝛼 n , respectively, where
n is the number of the double laminae. Moreover, all the
adjacent regions of a particular triangle has opposite stack-
ing configurations.
In Fig. 3, two regions are defined: regular winding and
return region. In the former, the winding is regular and the
tow follows a path to obtain the wanted winding angle. Nor-
mally, the path is geodesic in this region, which is the short-
est trajectory between two points over a generic surface.
Furthermore, on cylindrical surfaces, the winding angle of
a geodesic path is constant. The geodesic path, however, is
not mandatory for the process: it is only required that, at the
same cross section, the forward and backward stroke have
opposite winding angles in order to generate uniform surface
Fig. 2  Scheme of the regions of the wound part and regular diamonds. In developed cylindrical surfaces,
the geodesic paths are straight lines, easing the visualisa-
tion of the pattern generation. The second region—return
2.2 Developed surface and sequence of movements region—is characterised by non-geodesic trajectories due
to the return manoeuvre.
A straightforward way to analyse pattern generation on The mandrel’s rotation angle, performed during the return
cylindrical surfaces is to develop the surface of the mandrel movement, is called dwell, while a circuit is formed by two
into a rectangle, as shown in Fig. 3. The horizontal and the strokes (forward and backward) with their respective return
vertical edges denote the component length and the circum- paths. The set of circuits that take the tow to the adjacent
ference perimeter, respectively. Furthermore, the two hori- position of the first forward stroke is a cycle and the num-
zontal edges are related to the same line in the cylinder, cor- ber of circuits inside a cycle defines the pattern. The gaps
responding to 0◦ and 360◦ of the developed circumference. between the tows, formed in the first cycle, are fulfilled in
The tow width is initially neglected. Forward and backward a sequential way. As the movements are repetitive and only
strokes are presented in Fig. 3 with solid and dashed lines, complete circuits and cycles are performed, the way the fill-
respectively. The direction of the tow placement is shown by ing occurs characterises the pattern by forming equal inte-
the arrows. All of them have the same orientation (upwards) gral diamonds on the surfaces periphery.
since the mandrel rotates to in one direction throughout the Another movement in a cycle or at its end is known as
process. Each time the line reaches the superior limit, the shift: the displacement of the tow in the circumferential
trajectory starts again in the inferior one (developed surface direction in order to prevent overlapping with an already

Fig. 3  Scheme of a heli-

cal winding on a cylindrical
mandrel

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deposited tow. This displacement is equal to the projection differences between the start-end and far-end return regions
of the tow width onto the parallel direction. As a result, the are expected.
shift, 𝜃sft , (measured in radians) is determined as
wp 2.3 Geometric approach with discrete shift
𝜃sft = ,
r
Regarding the helical pitch and the regular winding region
in which and in order to ease the description of the introduced pro-
w cedure, two cases can be considered: the first concerns one
wp =
cos 𝛼
, or multiple helical pitches that fit exactly on the component
size, while the second represents a fractional helical pitch
where w corresponds to the tow width, wp to the projection wound on the mandrel. These are described below.
of the tow width to the parallel direction, and r defines the
local radius of the surface of revolution. One notices that 𝜃sft 2.3.1 First case: Lr is a multiple of L
also determines the section angle that a single tow occupies.
The shift can be performed in a continuous way or it could The first case is presented in Fig. 4. Lr defines the pitch of
be executed in a discrete fashion. the helical path and it represents twice the component length
The continuous procedure does not require any modifi- L. This basically means that the mandrel has to rotate twice
cation of the velocity profile between the mandrel and the (720◦) until the tow travels from the start-end (A–A section)
delivery eye throughout the process. It places the tow as to the far-end (B–B section). The rectangle sides are the
described in refs. [1, 13–15] and it is suitable when there is circumference perimeter, 2𝜋r , and the mandrel length, Lm ,
no possibility of having an independent adjustment of the where r is the mandrel radius. In Fig. 4, two circuits are pre-
shift at the end of each cycle. This procedure is based on sented, where the pattern is 1 ( ptr = 1), i.e. a cycle is com-
Bézout’s identity [16] and, in this case, the number of tows, plete after one circuit. In this case, the tow return trajectory
N, and the integer identifying the pattern, ptr , are coprimes, close to the B–B section is generated in a full rotation of the
resulting in mandrel. As a result, the b1, first backward stroke, starts and
ends at the same position as f1. Such characteristic is shared
Na − ptr b = ±1, (1)
for all forward fi and backward strokes bi , i = 1, 2, … , n.
where a, b ∈ ℤ and b define the number of tows inside a dia- The shift may be defined as leading and lagging [11]. In
mond. The ± means that after ptr circuits (a cycle), the tow the leading type, the shift is placed in the direction of the
will be positioned beside (before or after) the tow from the movement and, consequently, the dwell is slightly larger than
previous cycle. To determine a and b, the Euclidean algo- the required for pattern generation (at B–B section). The
rithm may be applied [16]. lagging type is the direct opposite and the dwell is slightly
The discrete procedure requires a different returning pro- smaller than the required for pattern generation. Figure 4
cedure at the end of each cycle. Thus, it is imperative that the shows a leading type of shifting.
relation between the delivery eye velocity and the mandrel’s The described procedure is repeated until the mandrel is
rotation is modified in the middle of the process. Parameters totally covered by the tows and some level of rounding is,
such as winding angle are maintained. Nevertheless, small hereby, required,

Fig. 4  First case of pattern

formation: pitch fits exactly the
component length

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⌊ ⌋ ⌈ ⌉
≦N≦
2𝜋r 2𝜋r start end again at point A, arrives on the far end at point B
, (2) and a dwell with 72◦ is done until point B1. After a stroke,
wp wp
the tow arrives point A1 at the start end, a dwell of 72◦ is
where 2𝜋r ∈ ℝ is the number of tows in order to cover fully performed and a new circuit begins at point A2 . After 5
w
times the tow is over the tow from the first cycle and a shift
p
the mandrel periphery. ⌊⋅⌋ and ⌈⋅⌉ correspond to the floor and
ceil functions, respectively. Normally, the next integer is is performed and a new cycle begins. The sequence of the
chosen (ceiling), wherewith there will be a small overlap, partition being fulfilled is: P1, P3 , P5 , P2 and P4.
otherwise a small gap may occur. These small gaps may be The dwell for a ptr = 5 is not fixed at 72◦ . Indeed, the
filled with resin in the curing process. Equation (2) deter- possible dwells are multiple of this value. The order of
mines the number of tows required to achieve a minimum filling is, however, modified. The Pi sequences is shown
degree of gap or superposition. Other approaches may add / in Table 1 where skp is known as skip (as a partition is
subtract tows so as to increase / decrease the degree of cover “jumped”): the ratio between the circumferential distance
in orders larger / smaller than 100%. (anticlockwise) of two sequential strokes and the dwell. It
In the case of Fig. 4, the mandrel’s rotation is a multiple is always an integer since this distance must be a multiple
of a full turn at the return region. However, this is not a of the dwell.
requirement of the process. For instance, if ptr = 2 has to Moreover, given the characteristics of a single circuit,
be wound, as shown in Fig. 5, the second forward stroke the skip can be defined as
inside a cycle must be at 180◦ of the first one, at the A2 posi- 2dw ptr
tion. The same circumferential distance must be ensured for skp = . (3)
360
the backward strokes: b2 starts at B3, which is located 180◦
from B1, where b1 starts. As a result, the dwell at each return where dw corresponds to the dwell. The factor 2 refers to
region is 90◦. The first circuit of the second cycle, repre- the two return procedures inside a circuit. In Table 1, four
sented by an arrowed solid line, would be placed at the same examples of the sequence of circuits are presented.
position of f1, so a shift is performed. Equation (3) results in skip values larger than the pattern
Figure 6 schematically depicts a case with ptr = 5. Cir- number and this is a consequence of the number of full rota-
cuits, ci , are used instead of the strokes. The return trajec- tions of the mandrel regarding the dwells. [ So,
] the skip can
tory takes 72◦ of the mandrel’s rotation, thus the partitions be viewed as a residue class, defined by skp p . So, taking
tr
Pi are shown with a spacing of 72◦ . The tow leaves the the aforementioned example of ptr = 5, the classes are

Fig. 5  Scheme of tow place-

ment and the dwell for a ptr = 2

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Fig. 6  Fractional dwell at the

first case of a pattern 5

{ }
[0]4 = ⋯ −8 −4 0 4 8 ⋯ ⇒ ptr ∕skp = 1∕1 ,
{ }
Table 1  Example of different configurations for a pattern 5 [1]4 = ⋯ −7 −3 1 5 9 ⋯ ⇒ ptr ∕skp = 4∕1 ,
{ }
Dwell Sequence of Pi ptr / skp [2]4 = ⋯ −6 −2 2 6 10 ⋯ ⇒ ptr ∕skp = 2∕1 ,
{ }
72◦ 1, 3, 5, 2, 4, shift, 1 5/2 [3]4 = ⋯ −5 −1 3 7 11 ⋯ ⇒ ptr ∕skp = 4∕3 .
144◦ 1, 5, 4, 3, 2, shift, 1 5/4
216◦ 1, 2, 3, 4, 5, shift, 1 5/1 One notes that ptr ∕skp = 4∕2 ⇒ ptr ∕skp = 2∕1. This is a con-
288◦ 1, 4, 2, 5, 3, shift, 1 5/3 sequence of
ac ≡ bc (mod mc) ⇒ a ≡ b (mod m) , (4)
and given the same implication, the class [0]ptr always gener-
{ } ates a ptr ∕skp = 1∕1. It is important to note that, as a corol-
[0]5 = ⋯ −10 −5 0 5 10 ⋯ ⇒ ptr ∕skp = 1∕1 , lary of Eq. (4), every pattern construct by composite num-
{ }
[1]5 = ⋯ −9 −4 1 6 11 ⋯ ⇒ ptr ∕skp = 5∕1 , bers has reductions. Only patterns with prime numbers has
{ } all skip configurations.
[2]5 = ⋯ −8 −3 2 7 12 ⋯ ⇒ ptr ∕skp = 5∕2 ,
{ } Another way to analyse the sequence of movements
[3]5 = ⋯ −7 −2 3 8 13 ⋯ ⇒ ptr ∕skp = 5∕3 , is depicted in Fig. 7, where the order of tow placement
{ }
[4]5 = ⋯ −6 −1 4 9 14 ⋯ ⇒ ptr ∕skp = 5∕4 , is shown in the mandrel’s cross section. In each Figure,
3 cycles are presented and the arrows define the tow
where each class generates a particular ptr ∕skp . The class sequence. In Fig. 7a, the cycle starts at P1, then goes to P2
[0]5 implies in ptr ∕skp = 1∕1 due to the fact that it leads to and continues anticlockwise until reaches P1. A shift is
dwells multiple of 360◦, obtaining a sequence of movements performed and the next cycle starts. By observing Table 1,
analogous to Fig. 4. this pattern is classified as 5/1. Different orders of Pi can
Further properties on residue classes and modular be considered. Figure 7b presents a case in which a parti-
arithmetic can be applied to ptr ∕skp evaluation. A residue tion is skipped. The tow is placed at P1, then goes to P3
class is constructed by the well-known modular equa- (skipping P2 ) and to P5 (skipping P4 ). After, P2 and P4 are
tion a ≡ b (mod m) . One important property regarding filled. In Table 1, this pattern is classified as 5/2. Thus,
pattern development is when the modulo is a composite essentially, the skip can be assumed as the shift between
(non-prime) number: the entire equation can be reduced two circuits inside a cycle, considering the partitions.
to another pattern. Let ptr = 4 , for example. Its residue The patterns 5/3 and 5/4 are also shown in Fig. 7a, b,
classes are

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Independently of the sequence, the tows are placed side

by side, regardless of the small overlap or gap due to the
rounding. As shown in Fig. 6, the starting point on A–A
section, and the subsequent point at which the tow arrives at
the B–B section defines all possible positions. The N posi-
tions may be divided into Pi partitions with equal number
of tows, Np. Thus
N
(a) (b) ptr
= Np , (6)

Fig. 7  Different form of viewing the pattern formation where only positions defined by an integer number of tows
are permitted. Each tow position, tj is defined through

respectively, differing from 5/1 and 5/2 only through the tj = jwc ≤ N , (7)
clockwise sequence of fulfilling.
in which j ∈ ℕ. In an example, N = 40 means that only 40
Figure 7 can also regarded as a fingerprint of a particu-
tows may be placed side by side in the equator (the largest
lar pattern / skip. Because of its modular properties, the
diameter of the mandrel). Equation (6) infers another char-
reduction of patterns are naturally taken into account in this
acteristic of the discrete approach, when comparing with
scheme. A wound part, regardless if it is cylindrical or not,
the continuous one, as it modifies Eq. (1) by the following
presents such fingerprints.
As the pattern number increases, the distance between the Na − ptr Np = 0 . (8)
zig-zag lines decreases (CCO regions in Fig. 2) [17]. One
can determine this distance as The variable a is added to Eq. (6) to account for degrees of
coverage larger or smaller than 100% [11].
Lr
dCCO = . (5)
2ptr 2.3.2 Second case: Lr is not a multiple times in L
dCCO is a main winding parameter and depends on the radius
In the second case, the pitch does not fit exactly the regular
of the mandrel only, r, and winding angle 𝛼 . When Lr fits an
winding region, as schematically depicted in Fig. 8. Both the
integer number of times into L and assuming a dwell of 360◦
fractional parts al and ar , concerning the longitudinal and
at both returning regions (besides the shift close to the start-
circumferential directions, are shown at the regions between
end), only ptr = 1 is possible and dCCO is the largest possible,
A–A and A’–A’ sections as well as B–B and B’–B’ sec-
i.e. the RL region is the greatest possible. In ref. [6], the area
tion, respectively. The region of exact fitting is centralised,
ratio of the CCO region to the total diamond region were
although it is neither a requirement nor a simplification of
associated with weeping effects and crack propagation.
the problem. Two circuits are shown (c1 and c2).

Fig. 8  Fractional fitting

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The dwell required to construct a particular pattern In order to obtain the required rotation angle for a non-
depends only on the fractional part and the dwell and not on geodesic path over a cylindrical surface, an infinitesimal
the wound part of A’–A’ to B’–B’ sections (integer pitch). surface of revolution area has to be analysed, as depicted in
In order to prove such statement, let the mandrel’s rotation Fig. 9. Thus, let us consider a generic curve dL , where dLm
in a single circuit be defined (in degrees) as and dLp are the meridional and the parallel lengths, respec-
( ⌊ ⌋ ) tively. The radius of the surface of revolution, r depends only
L al
circ
𝜃 = 2 360 + 360 + dw . (9) on the direction of the axis of rotation, z.
Lr Lr Through differential geometry [18]
√
Now, let dLm = Edz ,
al √ (13)
d̂ w = 360 + dw , (10) dLp = Gd𝜃 ,
Lr
where E and G denote the coefficients of the first funda-
be a modified dwell due to the non-fitting of the pitch in
mental form of a surface. For revolution surfaces, they are
L. As aforementioned, the mandrel’s rotation of a cycle is
determined as
always a multiple of a full rotation. Otherwise, there would
be no need to perform the discrete shift each time a cycle E = (r� )2 + 1 ,
ends. Consequently,
G = r2 ,
ptr 𝜃 circ = 𝜃 cycle = 360nv ⇒ ptr 𝜃 circ ≡ 0 (mod 360) (11) where the prime symbol indicates derivative with respect to
as the number of rotations, nv , is not important for pattern z. The case of cylindrical surfaces reduces to
generation. By inserting Eq. (9) into Eq. (11) and perform- dLm = dz ,
ing algebraic manipulations described in “Appendix”, one
dLp = rd𝜃 ,
obtains

ptr d̂ w ≡ 0 (mod 180) (12)

Through trigonometric relations, one obtains
dz rd𝜃
Equation (12) establishes the required dwells, both modi- dL = = ⇒ rd𝜃 = tan (𝛼(z))dz , (14)
cos (𝛼(z)) sin (𝛼(z))
fied and standard, given a particular pattern (or the possible
patterns with respect to a dwell range). One notices that the The differential equation of the winding angle variation on
possible patterns are defined by the number of tows, Eq. (2), z-axis taking into account the slippage coefficient 𝜆 on a
and, as a result, the winding angle. All properties introduced generic surface is written [19, 20] as
in the previous section remain the same, but the modified [ ]
dwell. For exact fitting (first case), d̂ w = dw. d𝛼 sin 𝛼 tan 𝛼 r�� cos 𝛼 (r� )2 tan 𝛼
=𝜆 − � 2
− , (15)
dz r 1 + (r ) r

where the dependences of 𝛼 on z is omitted. The slippage

3 Non‑geodesic trajectory on surfaces coefficient 𝜆 is obtained through equilibrium condition [19]
of revolution and it corresponds to
|K |
Non-geodesic trajectories rely on the friction between man- 𝜆 = || G || ,
drel and tow. These trajectories are required in the return | KN |
region, since the winding angle changes from regular (+𝛼 ) where KG and KN denote the geodesic and normal curva-
to 90◦ and back again to regular but in the opposite direc- tures, respectively. The slippage coefficient has to be equal
tion (−𝛼). or lower than the friction factor to prevent slippage of the

3.1 Cylindrical surfaces

An example of the previous section has assumed that the

four dwell angles ( 72◦, 144◦, 216◦ and 288◦) are theoreti-
cally possible for ptr = 5. However, the dwell angle is a
result of the non-geodesic path performed during the return
procedure. Fig. 9  Infinitesimal revolution surface

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tow over the surface. Sometimes, a small increase in the L(𝜇) 𝜇

∫0 ∫𝜇i ab 𝜇2 − a2
𝜇
friction coefficient reduces the returning path, enables a par- dL = − √ d𝜇 . (21)
ticular a pattern without additional rotations.
For cylindrical surfaces, with constant radius, Eq. (15) The integration of Eq. (21) results in
is reduced to simple case as follow �� � � 2 ��
1 a2 − 𝜇 2 a −1
d𝛼 sin 𝛼 tan 𝛼 L(𝜇) = √ −√ , (22)
=𝜆 , (16) ab
dz r 𝜇 2 − a2 1 − a2
One notes that Eq. (15) describes a non-geodesic path on a where 𝜇i = 1 ( z = 0 ). Equation (22) is indeterminate for
cylindrical surface. A geodesic trajectory is obtained consid- 𝜇 = a since tan 𝛼 → ∞ at the turning point. Applying the
ering the slippage coefficient null. In this case, the solution L’Hopital rule, with 𝜇 → a, Eq. (22) yields
degenerates to the Clairaut relation, defined by � �
1 − a2
r sin 𝛼 = c , L(a) = √ . (23)
ab 1 − a2
where c is a constant. The general solution of Eq. (16) is
( ) Equation (23) defines the half-length of the return path and
sin (𝛼) − sin 𝛼i 𝜆( ) two limits may be identified. Firstly, if the initial angle is
( ) = zf − zi
sin (𝛼) sin 𝛼i r close to 90◦ as in hoop winding, the length is the smallest
( ) possible ( a ≈ 1). Finally, if 𝛼 ≈ 0◦, the half-length required
sin 𝛼i (17)
⇒ sin (𝛼) = ( ) ( ) , tends to infinity.
𝜆 z − zi sin 𝛼i Another important parameter is the dwell, 𝜃 , for the half-
1−
r length L (Eq. (23)). Firstly, one considers Eq. (14) along
with eqs. (17) and (18) to write
where 𝛼i and 𝛼 are the initial and final winding angles with
( ( ))
their respective positions, zi and z. From Eq. (17), one can
∫ ab ∫
1 a
determine the position where the tow changes the stroke r d𝜃 = − tan arcsin d𝜇 ,
𝜇
(forward to backward and vice-versa), zf , considering
𝛼 = 𝛼f = 90◦ [17]. This information is important as it defines which results in
the required (minimum) mandrel length. �√ �
Along with Eq. (17), one obtains the half-length of the 1 �� 𝜇2 − a2 − 𝜇 ��
𝜃(𝜇) = ln � √ . (24)
tow required for the return procedure by integrating Eq. 𝜆 � 1 − a2 − 1 ��
� �
(14). For integration purposes, let
( ) An interesting point of Eq. (24) is that the half-dwell does
𝜆
a = sin 𝛼i b= 𝜇 = 1 − abz . (18) not depend on the mandrel radius, which is obtained by
r
� �
and considering zi = 0, this leads to 1 a
𝜃(a) = ln √ .
𝜆 1 − 1 − a2
1−a
zf = ⇒ 𝜇f = a . (19)
ab
Equation (19) measures the required length to the returning 3.2 Non‑cylindrical surfaces of revolution
path along the z-axis. The integrations are carried out over
𝜇, thus the Jacobian is In order to determine non-geodesic trajectories on generic
surfaces, a position vector, 𝐝 , is defined as
d𝜇
= −ab . { }T
dz 𝐝(z)T = r cos 𝜃 r sin 𝜃 z , (25)
By inserting Eq. (17) into Eq. (14), one obtains where r depends only on z. Differentiating 𝐝 with respect to
1 𝜇 z, one obtains
dL = − � � �� d𝜇 = − √ d𝜇 ,
a ab 𝜇2 − a2 { }T
ab cos arcsin 𝐝�T = r� cos 𝜃 − r𝜃 � sin 𝜃 r� sin 𝜃 + r𝜃 � cos 𝜃 1 , (26)
𝜇
(20) in which the dependence of 𝐝′ on z is omitted.
( { })
and, therefore, The angle between the 𝐝′ and 𝐞̂ z = 0 0 1 vectors
defines the winding angle 𝛼 , written as

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576 Page 10 of 16 Journal of the Brazilian Society of Mechanical Sciences and Engineering (2019) 41:576

1 such as material used and minimum mandrel’s size. The

𝐝� ⋅ 𝐞̂ z = ||𝐝� ||||𝐞̂ z || cos 𝛼 ⇒ cos 𝛼 = . (27)
|𝐝� | parameters varied at the examples are the radius, winding
angle and the tow width.
Considering that the norm of 𝐝′
√ 4.1 Comparison between methods (Diophantine
�𝐝� � = r�2 + r2 𝜃 � + 1 , (28)
� � equation × geometric approach)
one derives the mandrel’s rotation by the following differ- regarding the possible patterns
ential equation
Two different configurations are chosen for the comparison
√
tan2 𝛼 − r�2 between the sets of patterns generated by the Diophantine
�
𝜃 = (29) and geometric approaches:
r
which is obtained by algebraic manipulation of eqs. (27) 1. r = 25 mm, w = 2 [mm] and 𝛼 = 60◦;
and (28). Equation (29), along with Eq. (15), determine the 2. r = 25 mm, w = 6 [mm] and 𝛼 = 45◦.
mandrel’s rotation and the winding angle through a generic
revolution surface. Therefore, By considering Eq. (2), it is noticeable that the number
{ � } { } of tows in the mandrel’s periphery will change and this
𝜃 (z) 𝜃(z)
�
𝐇 (z) = ⇒ 𝐇(z) = , (30) will lead to different possible patterns. When considering
𝛼 � (z) 𝛼(z)
the smallest gap or superposition, the number of tows, N,
Given the characteristics of 𝐇� (z) , 𝜃 and 𝛼 can only be with winding angle equal to 60◦ is 39 and 40, respectively.
obtained by a numerical procedure. Thus, the non-geodesic Tables 2 and 3 present the values of the patterns consider-
path over a generic surface of revolution may be determined. ing the Diophantine equation (Eq. (1)) and the geometric
approach (Eq. (8)), respectively. For the case of winding
angle equal to 45◦, 18 ≦ N ≦ 19. Similarly to the previous
case, the possible patterns are shown for each procedure in
4 Results and discussion Tables 4 and 5.

The proposed geometric approach with discrete shifting is The patterns of Tables 2 and 4 where a ≠ ±1 may not
applied to the pattern generation and compared with the be easily distinguishable due to the diamonds entangle-
usual continuous procedure in the possible patterns which ments. Moreover, similar patterns with different a values
each can generate. Furthermore, the algorithm of the pro- result in distinct laminates, with a possible influence on their
posed approach is implemented in a CAD software and mechanical properties. As shown in Table 2, only three pat-
some results of the proposed approach are shown. The geo- terns for N = 40 and eight patterns for N = 39 are consid-
desic and non-geodesic trajectories, both in cylindrical and ered with a = ±1. Moreover, with N = 39, more solutions of
non-cylindrical surfaces, are also demonstrated and used to Eq. (1) are obtained due to the fact that N has less divisors.
determine the minimal dwell for a given slippage coefficient, The opposite is observed for the geometric approach with
which is useful for manufacturing and determines the pat- discrete shifting (Tables 3 and 5). The more divisors the N
tern generation. Then, by using the possible patterns and the has, the more patterns are possible. It is important to notice
minimum dwell angle, some examples are provided to show that the list given in Table 3 considers only values for a ≠ 1
the influence of patterns / skips on the processing variables for the same reason as the continuous approach.

Table 2  Patterns obtained by N 40 39

the solution of the diophantine
equation with a winding angle ptr 1 3 7 9 11 13 17 19 1 1 2 4 5 8 10 19 7 14 16
equal to 60◦
a 1 1 3 2 3 1 3 9 1 1 1 1 1 1 1 1 2 5 7
b 39 13 17 9 11 3 7 19 40 38 19 10 8 5 4 2 11 14 17

Table 3  Patterns obtained by N 40 39

the geometric approach with a
winding angle equal to 60◦ ptr 1 2 4 5 8 10 20 1 3 13
Np 40 20 10 8 5 4 2 39 13 3

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Journal of the Brazilian Society of Mechanical Sciences and Engineering (2019) 41:576 Page 11 of 16 576

Table 4  Patterns obtained by N 19 18 most importantly, for cases which are not possible by the
the solution of the diophantine usual procedure.
equation with a winding angle ptr 1 2 3 4 7 1 5 7
equal to 45◦
One important property of the new approach is its sim-
a 1 1 1 1 3 1 2 2 plicity as defines the possible patterns by just analysing the
b 18 9 6 5 8 17 7 5 divisors of the number of the tows. Higher degrees of super-
position / gap can be also evaluated by exactly the same
manner. An example is the case of winding angle equal to
Table 5  Patterns obtained by N 19 18 45◦. With 19 tows—considering superposition, one can only
the geometric approach with a produce 1 pattern. If one increases one tow from the set,
winding angle equal to 45◦ 1 1 2 3 6 9
ptr thus N = 20, one can then produce 5 different patterns. The
Np 19 18 9 6 3 2 degree of coverage is ≈ 102.82% and ≈ 108.04% for N = 19
and N = 20 , respectively. It is also worthwhile noticing
that, by the same way of varying the winding angle, if one
In the second case, an interesting result is obtained. changes the radius, the tow width and / or the degree of
Considering superposition, N = 19 is a prime number. superposition / gap, the number of tows will change, imply-
So, the only pattern possible in the geometric approach ing in a modification of the possible patterns.
is ptr = 1, as shown in Table 5. Nevertheless, as discussed It is worth to highlight in Tables 2 - 5 that only ptr = 1 is
in Sect. 2.3, by the geometric approach, only N prime has obtainable by both approaches. No other pattern obtained
all skips. In other words, the set ptr ∕skp does not fall into by the geometric approach can be obtained with the Dio-
another configuration. phantine equations. This occurs since N and ptr need to be
Along with the sequence of movements described in coprimes in the Diophantine approach, but they only need
Sect. 2.2, the algorithm of the geometric approach is then to be divisible for the geometric one. Another interesting
implemented in a CAD / CAE software. The results for the consequence is that the cases that the Diophantine equa-
cases of N = 40 and N = 39 (winding angle equal to 60◦ ) tions generate less possibilities are those where the geomet-
are depicted in Fig. 10 for two different patterns each. The ric approach generates more. This is a valuable outcome
three regions depicted in Fig. 2 are noticed in Fig. 10a–d. because it brings the formalism closer to the manufacturing
As one can see, the pattern is generated without gaps and, parameters and allows the construction of other patterns

Fig. 10  Pattern generated by the geometric approach with parameters a N = 40 and ptr = 2, b N = 40 and ptr = 5, c N = 39 and ptr = 3 and d
N = 39 and ptr = 13

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576 Page 12 of 16 Journal of the Brazilian Society of Mechanical Sciences and Engineering (2019) 41:576

just by changing the rules of their generation. As afore- respectively, at the returning region. If the slippage coeffi-
mentioned, one may change the number of tows to produce cient of the mandrel is 0.1, for example, the shortest trajec-
other patterns. This, however, directly impacts the degree tory that would prevent slippage of the tow in the return path
of coverage and, as a consequence, thickness of the wound is presented by the curve with solid circles. This represents
component. 640◦ of rotation—almost two turns—only for the tow to
return to the regular winding region. It can be observed that
4.2 Non‑geodesic trajectory greater rotation and longer trajectories are needed, increas-
ing the amount of material that will later be removed to
4.2.1 Cylindrical surface of revolution reveal the part. Figure 11 also implies that the larger the
slippage coefficient, the smaller the mandrel’s rotation 𝜃 and
Trajectories, winding angle and mandrel’s rotation at the the required size of the return region. Moreover, accord-
return region on cylindrical and surfaces of revolution are ingly to Eq. (24) for 𝜆 = 0.1, ca. 40-mm long return size is
discussed here. Firstly, concerning cylindrical surfaces, required, while for 𝜆 = 0.2 , this length drops to ≈ 20 mm,
Eq. (24) is plotted in Fig. 11 for four different slippage coef- which will also impact overall minimum mandrel length. It
ficients (𝜆 = 0.1, 𝜆 = 0.2, 𝜆 = 0.3 and 𝜆 = 0.4), where z and is worth noticing that these curves represent the minimum
𝜃 correspond to the additional mandrel size and rotation, values that can be obtained without slippage and help defin-
ing the returning trajectory of a component for a particular
pattern, as will be shown later.
The plots in Fig. 12 (a)-(b) show the correlation between
selected manufacturing parameters: mandrel’s rotation,
slippage coefficient, stroke, zf , and the winding angle (of
the regular winding region), 𝛼i , at the return region. These
results also represent the minimum bounds for these parame-
ters or relations. One may notice that, as 𝜆 → 0, the required
mandrel’s rotation (Fig. 12a) and mandrel’s length for the
return manoeuvre tends to infinity, independently of the
winding angle. A similar trend is noted as the winding angle
tends to 0◦, as mentioned before. Also, the closer the initial
winding angle is to 90◦, the shorter is the return path.

4.2.2 Non‑cylindrical surface of revolution

An example of a non-geodesic path is depicted in Fig. 13

for the winding angle and the mandrel’s rotation in a non-
Fig. 11  Non-geodesic path in the return region at the ends of the cylindrical surface of revolution governed by
mandrel for different slippage coefficients (r = 25 mm)

Fig. 12  Bounds for the return

region: a return angle × slippage
coefficient for different winding
angles and b length of return
stroke × winding angle for dif-
ferent slippage coefficients

(a) (b)

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Journal of the Brazilian Society of Mechanical Sciences and Engineering (2019) 41:576 Page 13 of 16 576

Fig. 13  a Winding angle ×

stroke and b mandrel’s angle ×
stroke at the return region for
a non-cylindrical revolution
surface

(a) (b)

and 𝜆 = 0.2, for example, the additional mandrel’s length is

larger than the component itself.
It is important to notice that due to the nature of RK4,
no corrective numerical procedure is employed. The objec-
tive herein is just to describe non-geodesic trajectories and,
through the results, to present properties of these paths. To
implement such winding type, one requires to apply some
corrective control to the process in order to avoid the propa-
gation / accumulation of errors [19].

Fig. 14  Generatrix of a non-cylindrical mandrel—Eq. (31) 4.3 Influence of the returning path on the pattern
generation

r = 5.573110−6 z3 − 0.00226208z2 + 0.480329z + 17.9 [mm] , In this section, the pattern generation and non-geodesic tra-
(31) jectory will be used to define the dwell angle to produce a
where zi = 0 mm and zf = 108 mm. Its generatrix is plotted covered surface for a particular pattern. To define the pro-
in Fig. 14. The winding angle at zi is 55◦. The winding angle cedure to obtain the most suitable dwell for the geomet-
and the mandrel’s rotation governing equations (Eq. (30)) ric approach, let’s consider the wound component length
are solved with a Runge–Kutta algorithm—RK4—with 1500 L = 181.4 mm and pitch Lr = 90.7 mm (𝛼 = 60◦). It is also
points. Five slippage coefficients are evaluated. Interestingly, considered ptr = 5 (as Sect. 2.3) and the slippage coeffi-
the winding angle for 𝜆 = 0.4 decreases until ≈ 40◦ and then cient is 0.3. As depicted in Fig. 11, the minimum dwell in
increases to the initial winding angle. The same trend is this case is approximately 210◦. Given the possible choices
found for 𝜆 = 0.5, but due to the high friction between the presented in Table 1, the best condition in terms of man-
tow and the mandrel, the trajectory has a return (𝛼 = 90◦) ufacturing parameters is skp = 1, which gives a dwell of
before the end of the mandrel, at z ≈ 72 mm. This behaviour 216◦. A ptr ∕skp = 5∕2 is also possible. However, on each
is similar to the non-geodesic trajectories in cylindrical sur- return manoeuvre, instead of the additional 6◦ of the case of
faces previously shown in Fig. 11. ptr ∕skp = 5∕1, the necessary dwell is 222◦, increasing manu-
Here again, these are the maximum bounds for the tra- facturing costs and time.
jectories without slippage. For a friction between mandrel Now, for L = 200 mm, 𝛼 = 60◦ and (ptr = 5, the) pitch does
and tow of 𝜆 = 0.5, for example, any trajectory presented in not fit exactly the component length LL ≈ 2.2 and, thus,
r
Fig. 13a and the geodesic case can be generated without slip- al = 18.6 mm. Then, the modified dwell (Eq. (12)) and its
page. These results enable prediction of a path that fully cov- relation with the pattern is
ers the component surface as well as the initial angle of the
returning region, whose relevance is evident from Fig. 12. If d̂ w = 73.91 + dw ⇒ 369.57 + 5dw ≡ 0(mod180) (32)
the returning region of the component of Fig. 14 is a cylinder
The results of Eq. (32) are summarised as

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576 Page 14 of 16 Journal of the Brazilian Society of Mechanical Sciences and Engineering (2019) 41:576

Table 6  Evaluations of the dwell regarding the slippage coefficient

𝜆 min 𝜃 min d̂ w (Eq. 33) ptr ∕skp

0.1 629.44◦ 646.09◦ 1/1

0.2 314.72◦ 322.09◦ 5/1
0.3 209.82◦ 214.09◦ 5/3
0.4 157.36◦ 178.09◦ 5/2

dw(1) = 34.09◦ + 180◦ n

dw(2) = 70.09◦ + 180◦ n
dw(3) = 106.09◦ + 180◦ n (33)
dw(4) ◦
= 142.09 + 180 n ◦

dw(5) = 178.09◦ + 180◦ n Fig. 15  Procedure flowchart

where n ∈ ℕ ∪ {0}. The solutions of Eq. (33) are related to

the minimum possible dwell for a particular slippage coef-
ficient. Considering four different 𝜆 , as shown in Fig. 11, ptr = 1 → ptr ∕skp = {1∕1}
different dwells are calculated as shown in Table 6. One
observes that for 𝜆 = 0.1 and min d̂ w = 649.09◦, the gener-
ptr = 3 → ptr ∕skp = {3∕1 3∕2} (35)
ated pattern falls in the case of 1 / 1, the dwell in both ends is ptr = 9 → ptr ∕skp = {9∕1 9∕2 9∕4 9∕5 9∕7 9∕8}
multiple of 360◦. In this case, a pattern of 5 / 1 is achievable
with d̂ w = 682.09◦. in which the patterns (3 / 3 or 9 / 3, for example) that fall into
another one are already eliminated from the sets.
Now, the dwells for each pattern is then obtained by
4.4 Evaluating the possible patterns modular arithmetic. Then, for each case in Eq. (35), the
and manufacturing variables required dw is
ptr = 1 skp = 1 → dw = 129.4272 + 180n
In this section, the step-by-step methodology for obtaining
ptr = 3 skp = 1 → dw = 9.4272 + 180n
all manufacturing parameters are shown for a few simple
examples. Considering the design through the methodol- skp = 2 → dw = 69.4272 + 180n
ogy herein proposed for a cylinder with L = 450.6 [mm] ptr = 9 skp = 7 → dw = 89.4272 + 180n
and r = 30 [mm]. The tow width is set as w = 3.5 [mm]
skp = 8 → dw = 109.4272 + 180n
and the desired winding angle is 60◦ . In order to analyse
the influence of the slippage coefficient, two values are skp = 1 → dw = 149.4272 + 180n
used 𝜆 = 0.1 and 𝜆 = 0.3. Furthermore, a minimum man- skp = 2 → dw = 169.4272 + 180n
drel length (encompassing the regular winding and return
skp = 4 → dw = 29.4272 + 180n
regions) as well as a minimum superposition of tows that
covers all the periphery of the mandrel are sought. In other skp = 5 → dw = 49.4272 + 180n
words, for the last, the degree of coverage must be larger
than 100%. noticing that the skip is obtained by applying each d̂ w into
A schematic flowchart is presented in Fig. 15 showing Eq. (3).
the correlation between variables. Parallel to these definitions, there exists the mechanical
It is relatively simple, by considering the minimum part of the process. Through it, one obtains the bounds
superposition possible, to define the number of tows and for the return region—the minimum dwell. Let one con-
degree of coverage: N = 27 and 100.3 %, respectively. sider first 𝜆 = 0.1. The mandrel requires to turn, at least,
Then, with Eq. (2) and a = 1, the possible patterns are 629.4585◦ so that the tow remains in the predicted trajec-
tory: dwells greater than this values requires friction lower
ptr = {1 3 9} (34) than the available and vice-versa. So, Table 7 presents
some results compilation of the methodology herein pre-
and the ptr ∕skp sets, through the residue classes, are defined
sented, where 𝜆eff , Ltow and Lman correspond to the effective
as
slippage coefficient (the one required for the non-geodesic

13
Journal of the Brazilian Society of Mechanical Sciences and Engineering (2019) 41:576 Page 15 of 16 576

Table 7  Properties of the FW process for 𝜆 = 0.1 Fig. 15 so as to evaluate ptr ∕skp concerning small varia-
ptr ∕skp dw ( )
◦
𝜆eff (adm) Ltow (mm) Lman (mm) tions of parameters such as tow width, radius, etc., in order
to obtain both good mechanical and process performances.
1/1 669.4272 0.0940 184.20 49.36
3/1 729.4272 0.0863 200.71 53.78
3/2 789.4272 0.0797 217.22 58.20
9/1 689.4272 0.0913 189.71 50.83 5 Conclusions
9/2 709.4272 0.0887 195.21 52.31
9/4 749.4272 0.0840 206.22 55.26 This article has introduced a novel proposal for pattern
9/5 769.4272 0.0818 211.72 56.73 generation applied to FW process. It is based on the
9/7 809.4272 0.0778 222.73 59.68 sequence of movements and geometric aspects of the pro-
9 / 8* 649.4272 0.0969 178.70 47.88 cess. A mathematical description of the process is for-
mulated considering modular arithmetic, including main
properties and developed mandrel’s surface. Differences
between the usual methodology (based on Diophantine
Table 8  Properties of the FW process for 𝜆 = 0.3
equations) and the one introduced herein are also dis-
ptr ∕skp dw ( ◦) 𝜆eff (adm) Ltow (mm) Lman (mm) cussed. Two cases are analysed in detail: when the number
1/1 309.4272 0.2034 85.14 22.81
of pitches fits exactly the winding region and when it does
3/1 369.4272 0.1704 101.65 27.24
not. The possible patterns are obtained in a simpler way
3/2 249.4272 0.2524 68.63 18.39
in comparison to the usual method, and the required dwell
9/1 329.4272 0.1910 90.65 24.29
for a particular pattern/skip follows an elegant modular
9/2 349.4272 0.1801 96.15 25.76 equation. This approach can also be implemented in CAM
9/4 389.4272 0.1616 107.16 28.71 software along with the Diophantine equations in order
9 / 5* 229.4272 0.2744 63.13 16.92 to provide the designer with more alternatives for wound
9/7 269.4272 0.2336 74.14 19.86 cylinders.
9/8 289.4272 0.2175 79.64 21.34 The methodology allows the best dwell for a given pat-
tern and the influence of the slippage coefficient on the
return trajectory for both cylindrical and non-cylindrical
surfaces of revolution. The possible patterns for a particu-
path), length of the tow and the mandrel’s additional lar mandrel’s radius, winding angle and tow width con-
length for the returning process. figurations are defined. Results of a routine developed in
By considering uniquely the material quantity, the a CAE software utilising this methodology are included.
pattern 9 / 8 would be the best choice, given it has the The influence of the slippage coefficient on the dwell
smallest Ltow and, consequently, the smallest Lman . The angle and additional mandrel’s length for the return
mandrel’s size should be, for this case, 546.36 [mm] at manoeuvre is studied for cylindrical and non-cylindrical
least. Moreover, this case uses most of the friction avail- surfaces. The influence initial winding angle given a slip-
able ( ≈ 97% ). The worst case is the pattern 9 / 7—the page coefficient was also investigated, both for the dwell
mandrel’s size would be 569.96 [mm]. and the additional mandrel’s length.
One considers the same parameters but 𝜆 = 0.3. A simi- The winding angle variation and the mandrel’s rota-
lar table is then assembled. For this case, the minimum tion angle for non-cylindrical surfaces of revolution were
dwell is 209.82◦ . The best configuration for this slippage examined as well. The problem of finding the best dwell
coefficient is ptr ∕skp = 9∕5, as shown in Table 8, while the for a given a pattern was analysed, and the skip choice
worst is 9 / 4. The percentile difference between the length for a particular manufacturing case was discussed. So, as
of the tow of the aforementioned cases is ≈ 60% . Not to presented, the pattern (and the skip) can modify greatly the
mention that the mandrel of the worst case requires to be process efficiency—in terms of material waste and time
much greater than the best (28.71 mm to 16.92 mm at the of process—and the introduced methodology eases the
returning region). achievement of such pattern / skip.
Tables 7 and 8 show that the slippage coefficient
changes the optimum ptr ∕skp , regarding uniquely the mate- Acknowledgements The authors would like to thank CAPES (Project
Nos. 1303477 and 88881.198774/2018-1), CNPq (Project Nos. 310649
rial waste and the mandrel’s size. If other variables are
and 424426/2016-1), FAPERGS (Project Nos. 17/2551-0001188-0)
considered—such as mechanical behaviour of the wound and, DAAD (Project No. 57447163) for financial support.
component, one may have the support of the flowchart in

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576 Page 16 of 16 Journal of the Brazilian Society of Mechanical Sciences and Engineering (2019) 41:576

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tion degree of filament-wound composite tube. Adv Mater Res
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Determination of the relation between the pattern 5. Sorrentino L, Polini W, Carrino L, Anamateros E, Paris G (2008)
and dwell Robotized filament winding of full section parts: comparison
between two winding trajectory planning rules. Adv Compos
Mater 17(1):1–23
Let insert Eq. (9) into Eq. (11). It results in
6. Rousseau J, Perreux D, Verdière N (1999) The influence of wind-
( ⌊ ⌋ ) ing patterns on the damage behaviour of filament-wound pipes.
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2ptr 360
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2ptr 360
Lr 8. Zakrzhevskii AM, Khitrov VV (1989) Effect of interweaving on
the load-carrying capacity of wound thick-walled rods of compos-
By the same rule that infers the reduction of the pattern ites in torsion. Mech Compos Mater 24(4):516–523
given a skip, one obtains 9. Hahn H, Jensen DW, Claus SJ, Pai S, Hipp PA (1995) Structural
design criteria for filament wound composite shells. NASA Tech-
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+ ptr d̂ w ≡ 0 (mod 180)
L nical Reports, University Park
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Lr Davies P (2008) Influence of winding pattern on the mechanical
behavior of filament wound composite cylinders under external
This simplification is possible given the symmetry of the pressure. Compos Sci Technol 68(3–4):1015–1024
strokes inside a circuit. And due to the
⌊ properties
⌋ of sum in 11. Koussios S (2004) Filament Winding: A Unified Approach. IOS
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modular arithmetic: the value ptr 360 L belongs to the resi-
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12. Beukers A, Koussios S, Bergsma O (2007) Composite pressure
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due class [0]180 as ptr ∈ ℕ ⧵ 0 and LL ∈ ℕ and, therefore, ceedings of 16th international conference on composite materials
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13. Lowery PA (1990) Continued fractions and the derivation of uni-
ptr LL ∈ ℕ. Any non-negative integer multiplied by 360 form-coverage filament winding patterns. SAMPE J 26(5):57–64
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belongs to the residue class [0]180 . This proves that the 14. Liang YD, Luo G (1996) A simple filament winding pattern gen-
eration algorithm. Int Smape Tech Conf 28:1027–1039
region of regular winding with geodesic trajectory have
15. Dolan JM, Khosla P, Talukdar S (1993) Surface-closure algo-
influence of any kind in the pattern generation. Then rithms for filament winding of non-axisymmetric cylindrical parts.

[0] + ptr d̂ w ≡ ptr d̂ w ≡ 0 (mod 180)

In: Proceedings of the 25th international SAMPE technical confer-
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