The invention discloses a five-axis forming
grinding error compensation method for a parabola short-section tooth profile of a
harmonic reducer, and particularly relates to the technical field of
harmonic reducer manufacturing, which comprises the following steps: S1, constructing a multi-source error
coupling model including a
machine tool
kinematics error, a thermal-mechanical
coupling error and the like to obtain a
total error transfer formula; s2, various kinds of error related data in the
grinding process are collected in real time through a multi-
sensor array; s3, a
tool path is adjusted based on the tooth profile curvature change rate, and tool interference is avoided through an interference pre-judgment
algorithm; and S4, fusing data by adopting Kalman filtering to realize closed-loop compensation control. According to the method, the problems of multi-source error superposition, single compensation and easy interference in the prior art are solved, the tooth profile precision is stably controlled within 3 microns, the
machining efficiency and stability are improved, existing equipment does not need to be transformed, the implementation difficulty is low, compatibility is high, industrial popularization is facilitated, and the method is suitable for tooth profile
grinding machining of the
harmonic reducer for the
industrial robot joint.