A five-axis machining tool axis vector interpolation method based on the division and conquer optimization of the angular acceleration of each rotating axis of the machine tool
A tool axis vector and angular acceleration technology, applied in the field of five-axis machining tool axis vector interpolation, can solve problems such as increasing the difficulty of tool attitude control, improve kinematics and dynamic performance, minimize the angular velocity change of each rotating axis, optimize The process is fast and effective
Active Publication Date: 2018-06-12
DALIAN UNIV OF TECH
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Problems solved by technology
The introduction of two rotational degrees of freedom in five-axis CNC machine tools not only improves the flexibility of complex surface processing, but also increases the difficulty of tool attitude control
So far, the tool axis vector interpolation method for five-axis machining based on the divide-and-conquer optimization of the angular acceleration of each rotation axis of the machine tool has not appeared in relevant literature and patents
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[0036] figure 1 A flow chart of a tool axis vector interpolation method for five-axis machining based on divide-and-conquer optimization of the angular acceleration of each rotation axis of the machine tool is shown. The following is an A-C double swing head type five-axis CNC machine tool (such as figure 2 Shown) as an example, with reference to the accompanying drawings and implementation steps the specific implementation process of the present invention is described in detail:
[0037] (1) Transform the tool axis vector into the machine tool coordinate system. like image 3 As shown, let the local coordinate system of the knife contact be ξ (l) , the workpiece coordinate system is ξ (w) , the machine tool coordinate system is ξ (m) , then the knife contact coordinate system ξ (l) to the machine coordinate system ξ (m) The inverse kinematics transformation of can be expressed as:
[0038] T(ξ (l) → ξ (m) )=T(ξ (w) → ξ (m) )·T(ξ (l) → ξ (w) ) (1)
[0039] In t...
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The invention discloses a five-axis processing cutter axis vector interpolation method based on division optimization of angular acceleration of all rotation axes of a machine tool, belonging to the five-axis numerical control processing technology field. The five-axis processing cutter shaft vector interpolation method solves the problem of refine interpolation of cutter axis vector on the cutter position point on the condition that the key cutter position is set according to the cutting characteristic and cutter feasible space. The five-axis processing cutter shaft vector interpolation method comprises steps of transforming the key cutter axis vector into a machine tool coordinate system, obtaining the rotation angles of rotation axis of the machine tool through inverse solution, expanding and constructing an approximation calculation formula of all rotation axis angles on each refined interpolation cutter position point, establishing a least square optimization target function with the angular acceleration change of all rotation axes being minimal according to the division optimization strategy, providing a solution method to obtain the rotation angles of all rotation axes of the refined interpolation value cutter position point, and forwardly compositing the cutter axis vector of the refined interpolation value cutter position point. The method guarantees that the angular acceleration changes of all rotation axes are minimal and stable and smooth, which improves the kinetics and dynamics performance of the machine tool in the process of processing complex curve surface part.
Description
technical field [0001] The invention relates to a tool axis vector interpolation method for five-axis machining based on divide-and-conquer optimization of the angular acceleration of each rotation axis of a machine tool, and belongs to the technical field of five-axis numerical control machining. technical background [0002] At present, five-axis CNC machining occupies a dominant position in the processing of complex curved surface parts. The introduction of two rotational degrees of freedom in a five-axis CNC machine tool not only improves the flexibility of complex surface machining, but also increases the difficulty of tool attitude control. In order to meet the current and future needs of high-speed and high-precision CNC machining of complex curved surface parts, the control of the tool attitude, that is, the tool axis vector, not only requires the ability to avoid local or global machining interference that may occur during the machining process, but also to ensure t...
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IPC IPC(8): G05B19/41
CPCG05B19/41G05B2219/50297
Inventor 徐金亭孙玉文
Owner DALIAN UNIV OF TECH