Method for detecting singular area in five-axis machining

Abstract

The invention relates to a method for detecting a singular area in five-axis machining, which comprises the following steps: establishing a kinematic transformational relation of a five-axis machine tool and confirming a corresponding general formula of a Jacobian matrix; solving variation of each axis of adjacent machining points according to a numerical control machining process; performing normalization treatment on the Jacobian matrix by lines and solving a conditional number of the Jacobian matrix; and judging if a machining path is in the singular area according to a state of the Jacobian matrix. The method provided by the invention can be used for detecting a position of a singular point and a scope of a peripheral region thereof and also can be used for detecting a machining region with a bigger nonlinear error for the path without the singular point. By utilizing the characteristic that the Jacobian matrix can link a motion of a single joint with the motion of a whole mechanism, and the abrupt change in speed of each axis is considered, thereby being more accurate in detection.

Description

technical field [0001] The invention relates to a five-axis machining technology in the technical field of numerical control, in particular to a detection method for a singular region in five-axis machining. Background technique [0002] The five-axis machine tool adds two rotation axes on the basis of three translation axes, so that the tool can process the workpiece at different angles. This processing mode can obtain higher processing efficiency and better precision than three-axis processing. Processing quality. However, due to the influence of the rotary motion, when the tool passes through the area near the singular point, the rotary shaft will rotate discontinuously and rapidly, which not only causes a large error in the machining process, but also easily damages the workpiece and even damages the machine tool components. Therefore, accurately detecting the position of the singular point and the range of the singular area is the first step in processing the processin...

AI Technical Summary

Problems solved by technology

Some detection methods determine whether the machining is close to the singular point by detecting the position change of the translation axis and the angle change of the rotation axis, but this method does not involve the concept of time and cannot fully reflect the "speed mutation" of the machine tool axis in the singular area. "

In practical applications, some systems detect whether the current position is a singular point by accessing the singular point database during processing, but the process of building the database is cumbersome, and the generality of this method is not high

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