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

A technology of singular area and singular point, applied in the field of trajectory optimization of five-axis machining singular area, can solve the problems of frequent acceleration and deceleration movement, inability to take into account machining accuracy and machining speed, etc. The effect of machining accuracy

Active Publication Date: 2014-06-11
中国科学院沈阳计算技术研究所有限公司
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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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  • Trajectory optimization method of singular region by virtue of five-axis machining
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  • Trajectory optimization method of singular region by virtue of five-axis machining

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Embodiment Construction

[0028] The method of the present invention will be described in further detail below in conjunction with the accompanying drawings.

[0029] In this embodiment, the AC double turntable five-axis machine tool is taken as the research object, and the three methods of optimizing the C angle during inverse kinematics transformation, optimizing the direction of the tool axis near the singular point, and linearizing the maximum allowable error are organically combined. area to be processed. Such as figure 1 Shown is a structural schematic diagram of the AC double turntable five-axis machine tool used in the method of the present invention.

[0030] Such as figure 2 As shown, the trajectory optimization method of the five-axis machining singular region of the present invention comprises the following steps:

[0031] Establish the kinematic transformation relationship of the AC double turntable five-axis machine tool, and perform initial optimization on the C-axis rotation angle w...

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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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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B23Q15/013
Inventor 林浒刘峰王峰郑飂默张鸿楠
Owner 中国科学院沈阳计算技术研究所有限公司
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