Abstract: To avoid cutting and restarting of materials during automated fiber placement process of nondevelopable rotational shell component and non-developable variable cross-section joint component, the paper presents a variable-angle trajectory planning algorithm for two non-developable surface components, which can simplify the automated fiber placement process.First, the shape data information of components is obtained, and then the fiber placement angle in any position is calculated for getting the points on initial track line to obtain all track lines.Methods of acquiring initial points are presented for different components.For non-developable rotational shell and non-developable variable cross-section joint component, this paper gives the detailed realization procedures for the above algorithm.At last, through calculating the gap and the overlap between the adjoining tows, the feasibility of the above algorithm is verified.