As the core energy storage component of the air brake system, the brake air reservoir significantly influences the braking performance and safety of the vehicle. Traditional metal reservoirs discharge condensate through openings but are prone to corrosion. Although composite reservoirs offer advantages in lightweight design and corrosion resistance, conventional perforation methods compromise fiber continuity, induce stress concentration, degrade performance, and increase costs. This study, based on the equal-stress design theory, establishes a mandrel design method and optimizes the fiber winding path. Furthermore, a six-degree-of-freedom (6-DOF) end-effector motion trajectory planning approach is proposed, along with an analysis of acceleration effects on tension stability. An optimized fractional-order PID control strategy, enhanced by an adaptive genetic algorithm, is also developed. Finally, a fiber winding platform is constructed using a KUKA KR210 R2700 robot, and a control system is designed. Experimental validation confirms the uniformity of fiber distribution, the rationality of the enveloping trajectory, and the stability of tension control, demonstrating the effectiveness of the proposed system.