An idle
stroke non-interference
trajectory planning method for multi-spindle-head
machining comprises the following steps of establishing a kinematic model of a multi-spindle-head
machine tool, subjecting a workpiece to blocking treatment, and subjecting a tool to point centralization treatment; generating a
cutter location point track of the planning cutter based on an edge intersection
point method, and taking relative position parameters of the planning cutter and the workpiece at the head and
tail end points of the track and the edge intersection point as adjusting parameters of a cutterlocation point path; describing the tracks of the two rotating shafts and the
tail end track along any coordinate axis in the joint space by adopting a quintic spline curve, and describing unknown quantities in a description equation by using parameters related to edge intersection points and position parameters at beginning and
tail end points; establishing a multi-target
fitness function about the idle
stroke by using
a weighting coefficient method, detecting interference by using a two-stage intersection detection
algorithm, and if the interference exists, determining that the fitness valueis 0; and performing iterative optimization by adopting a
genetic algorithm. According to the method provided by the invention, a flexible idle
stroke track which is free of interference, relativelyshort in motion time, relatively small in rotating shaft angle variation and shortest in tail end track can be planned.