Trajectory optimization method of singular region by virtue of five-axis machining

Abstract

The invention relates to a processing method of a singular region by virtue of five-axis machining. The method comprises the following steps: establishing a kinematics conversion relationship of an AC (alternating current) dual-rotary-table five-axis machine tool, carrying out primary optimization treatment on a C-axle rotation angle while inverse kinematics changes so as to obtain cutter shaft data, and traversing the cutter shaft data; in the traversing process of the cutter shaft data, detecting the boundary range of the singular region by using a method based on a Jacobian matrix condition number; carrying out secondary optimization treatment on a singular point and a C angle nearby the singular point within the boundary range of the singular region to obtain new cutter shaft data; and carrying out recursion interpolation treatment on a subinterval with still larger C angle change between the two adjacent lines in the new cutter shaft data to obtain the final cutter shaft data. By adopting the method provided by the invention, velocity jump of a rotation shaft in the singular region can be effectively reduced, overlarge non-linear errors generated by the velocity jump can be reduced, the processing precision can be improved, and the machine tool as well as parts and components can be effectively protected.

Description

technical field [0001] The invention relates to a five-axis machining technology in the technical field of numerical control, in particular to a trajectory optimization method for five-axis machining singular regions. Background technique [0002] Five-axis machining can perform linear motion and rotary motion at the same time. This flexible machining method allows five-axis machining to have a higher material removal rate, shorter machining time, and can handle more complex workpieces than three-axis machining. 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, it is very important to process the machining in the singular area to improve the machining accuracy and efficiency. [0003] The existing p...

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Problems solved by technology

[0004] Aiming at the deficiencies in the prior art that the acceleration and deceleration movements of the machine tool are too frequent, and the processing accuracy and processing speed cannot be taken into account, the technical problem to be solved by the present invention is to provide a machine tool that can not only improve the processing accuracy in the singular area, but also ensure the processing accuracy. Trajectory optimization method for five-axis machining of singular regions without excessive speed reduction

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