Kinematics optimization control method of six-axis linkage EDM machine tool based on screw
A six-axis linkage, processing machine tool technology, applied in the direction of electrical program control, digital control, etc., can solve the problems of unstable discharge state, speed fluctuation, etc., and achieve the effect of optimizing processing speed
Active Publication Date: 2019-10-15
SHANGHAI JIAO TONG UNIV
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[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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[0016] In this embodiment, the motions of machining tools and workpieces in EDM are simulated as rigid body motions in the six-dimensional special Euclidean group SE(3), where SE(3) 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 around the origin of the coordinate system.
[0017] Among them: p is a three-dimensional vector, R is a special orthogonal matrix, is a three-dimensional real vector space, and 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 motions can be decomposed into translation motion along the coordinate axis and rotation motion around the rotation axis. A motion screw ξ can be used to represent the synthesis of translational motion and rotational motion, and the coordinates of ξ can be in the six-dimensional real vector space ...
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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 screw-based kinematic optimization control method for a six-axis linkage electric discharge machining machine tool. Background technique [0002] EDM is a process of removing material from a workpiece by a series of spark discharges between the workpiece and the electrode. 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 tool position changes in the system is nonlinear. Contents of the invention [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 ...
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IPC IPC(8): G05B19/18
Inventor 奚学程刘宏达陈默赵万生
Owner SHANGHAI JIAO TONG UNIV