Six-axis linkage electric discharge machining tool kinematic optimization control method based on spinor

A six-axis linkage and processing machine tool technology, which is applied in the direction of electrical program control, digital control, program control, etc., can solve the problems of unstable discharge state and speed fluctuation, and achieve the effect of optimizing processing speed

Active Publication Date: 2018-08-10
SHANGHAI JIAO TONG UNIV
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Problems solved by technology

[0003] Aiming at the above-mentioned deficiencies in the prior art, the present invention proposes a screw-based six-axis linkage EDM kinematics optimization control method, which can avoid the inconsistency between the movement of the rotation axis and the dimension of the translation axis during the machining process. The discharge state is unstable, which solves the problem of speed fluctuation in the process of machining, so as to stably control the discharge gap in the process of EDM, and then improve the efficiency of EDM

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  • Six-axis linkage electric discharge machining tool kinematic optimization control method based on spinor
  • Six-axis linkage electric discharge machining tool kinematic optimization control method based on spinor
  • Six-axis linkage electric discharge machining tool kinematic optimization control method based on spinor

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Embodiment Construction

[0016] In this embodiment, the motion of the machining tool and the workpiece in EDM is simulated as the rigid body motion in the six-dimensional special Euclidean group SE(3), which is a three-dimensional real vector space and the product space of the special orthogonal group SO(3), where SO(3) is the space describing the rotation about the origin of the coordinate system.

[0017] where: p is a three-dimensional vector, R is a special orthogonal matrix, is a three-dimensional real vector space, SO(3) is a special orthogonal group, which is a space describing the rotation around the origin of the coordinate system.

[0018] According to the screw theory, all rigid body motion can be decomposed into translational motion along the coordinate axis and rotational motion around the rotational axis. The combination of translational motion and rotational motion can be represented by a motion screw ξ, and the coordinates of ξ can be in the six-dimensional real vector space Ins...

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Abstract

The invention provides a six-axis linkage electric discharge machining tool kinematic optimization control method based on the spinor theory. The kinematic relational expression between the tool electrode in the six-axis linkage electric discharge machining tool and the workpiece is obtained through the spinor theory and a corresponding spinor is established for each kinematic pair, the kinematicrelation from the machining workpiece to the machine tool body is established by using the product of the spinor power function, and finally a kinematic transfer matrix from the machining tool coordinate system to the workpiece coordinate system is obtained through matrix inversion so that the machining speed in the machining process can be optimized. The discharge state instability caused by theinconsistency of the motion of the rotation axis and the translation axis dimension in the machining process can be avoided so that the problem of speed fluctuation in the machining process can be solved, the discharge gap in the electric discharge machining process can be stably controlled and thus the efficiency of electric discharge machining can be enhanced.

Description

technical field [0001] The invention relates to a technology in the field of electric discharge machining, in particular to a kinematics optimization control method for a six-axis linkage electric discharge machining machine tool based on a screw. Background technique [0002] EDM is a process of removing material from a workpiece using a series of spark discharges between the workpiece and electrodes. EDM is widely used in molds, aerospace, medical equipment and other fields. With the development of CNC EDM machine tools, more and more EDM CNC machine tools include servo motion involving one or more rotating axes. The mapping of changes in tool positions in the system is non-linear. SUMMARY OF THE INVENTION [0003] Aiming at the above-mentioned shortcomings of the prior art, the present invention proposes a kinematics optimization control method for a six-axis linkage EDM machine tool based on a screw, which can avoid the inconsistency between the dimensions of the mot...

Claims

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Application Information

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IPC IPC(8): G05B19/18
CPCG05B19/18G05B2219/32015
Inventor 奚学程刘宏达陈默赵万生
Owner SHANGHAI JIAO TONG UNIV
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