Design method of * speed curve and five-axis track processing method based on * speed curve

Abstract

The invention discloses a design method of a speed curve and a five-axis track processing method based on the speed curve. The method is a speed planning method capable of prolonging the time of the S2 speed curve to any value. On the basis, the shortest movement time of each sub-track is generated according to the kinematics constraint of the sub-tracks in the tool nose and tool axis directions of the five-axis machining track, and the maximum speed or the tail end speed of the faster sub-track is adjusted through the speed curve, so that the movement time synchronization of the two sub-tracks is realized; finally, the five-axis machine tool moves to the designated position and pose along the instruction track within the given time. According to the method, kinematics constraints of sub-tracks in the directions of a tool nose and a tool shaft are comprehensively considered, movement to a specified position and a tool pose along an instruction track within the same time can be realized through a proposed speed curve, driving constraint saturation of any sub-track is avoided, and a continuous and stable movement process is obtained.

Description

technical field [0001] The invention belongs to the technical field of motion planning, and specifically relates to Design method of speed curve and based on Five-axis trajectory machining method of speed curve. Background technique [0002] The trajectory of the five-axis machine tool is composed of the tool tip sub-trajectory and the tool-axis direction sub-trajectory. The tool-tip sub-trajectory is located in the Cartesian plane coordinate system and the tool-axis direction sub-trajectory is located in the spherical coordinate system. The spaces of the two trajectories are independent. The motion synchronization of tool axis sub-trajectories is one of the key technologies in five-axis interpolation. Document 1 "Beudaert X, Lavernhe S, Tournier C.5-axis local corner rounding of linear tool path discontinuities[J]. International Journal of Machine Tools and Manufacture, 2013, 73:9-16." and Document 2 "Tulsyan S ,Altintas Y.Local toolpath smoothing for five-axis machine...

AI Technical Summary

Problems solved by technology

In the speed planning process, the tool tip sub-trajectory is firstly planned according to the kinematic constraints of the tool tip to generate the tool tip velocity curve, and the velocity curve in the direction of the tool axis is generated synchronously through parameters. However, this process ignores the kinematic constraints in the direction of the tool axis

In some cases, the linear parameter synchronization method will cause the speed planning of the tool axis sub-trajectory to violate its kinematic constraints, causing the saturation of the physical axes of the machine tool, thereby destroying the five-axis machining quality

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