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Five-axis linkage track error tracing method

A five-axis linkage and trajectory technology, which is applied in the direction of instruments, computer control, simulators, etc., can solve the problems of lack of traceability methods for five-axis linkage trajectory errors and the inability to reduce linkage trajectory errors, etc., to achieve the effect of ensuring machining accuracy

Active Publication Date: 2021-12-03
XI AN JIAOTONG UNIV
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Problems solved by technology

[0004] At present, there is still a lack of research on the traceability method of the five-axis linkage trajectory error caused by the following error. The existing traceability research mainly focuses on the influence of dynamic factors such as acceleration, jerk and position loop gain under different parameter values ​​on the single-axis following error. Mapped to five-axis linkage trajectory error
Existing methods fail to directly reveal the quantitative relationship between the tracking error of each axis and the five-axis linkage trajectory error, and cannot reduce the linkage trajectory error from the perspective of controlling the single-axis tracking error

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[0044] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0045] A five-axis linkage trajectory error tracing method, comprising the following steps:

[0046] 1) Establish the positive kinematics transformation matrix:

[0047] This embodiment adopts figure 1 The kinematic structure of the AC double turntable five-axis machine tool shown is as follows figure 2 As shown, the machine tool has two open-loop kinematic chains, which are tool kinematic chain [g bt ] and workpiece kinematic chain [g bw ], tool kinematic chain [g bt ] As shown in formula (1), the workpiece kinematic chain [g bw] as shown in formula (2); two open-loop kinematic chains constitute the overall kinematic chain from the workpiece to the tool [g wt ], as shown in formula (3); where the kinematic chain of the tool starts from the machine coordinate system to the Y axis, X axis, and Z axis, and the tool is finally fixed on the Z axis;...

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Abstract

The invention discloses a five-axis linkage track error tracing method, which comprises the following steps of: firstly, establishing a forward kinematics transformation model of a five-axis machine tool, and respectively inputting an instruction position sequence and a grating feedback position sequence to calculate an ideal cutter center pose under a workpiece coordinate system and an actual cutter center pose under the workpiece coordinate system; respectively synthesizing the ideal cutter center position and the actual cutter center position into an instruction track and an actual track; solving a five-axis linkage track error, and projecting a tool nose position error vector between the actual track and the instruction track to the normal direction of the instruction track to solve the five-axis linkage track error; and reconstructing a track error solving model by using a Jacobian matrix, rewriting the track error into a total differential form, representing the following error of each axis and the five-axis linkage track error as a linear relationship, and obtaining the influence degree and effect of the following error of each axis on the linkage track error by using an error contribution degree model. According to the invention, quantitative traceability of the five-axis linkage track error is realized.

Description

technical field [0001] The invention belongs to the technical field of five-axis numerical control machine tools, and in particular relates to a five-axis linkage track error tracing method. [0002] technical background [0003] Five-axis CNC machine tools are key processing equipment for machining complex curved surface parts such as aeronautical structural parts, engine blisks / impellers, and gas turbine blades. The five-axis linkage trajectory error determines the contour error of these complex curved surface parts. In the process of high-speed and high-precision cutting, the following error is the main influencing factor causing the CNC machine tool linkage trajectory error. Therefore, the influence of traceability single-axis tracking error on the five-axis linkage trajectory error is very important for controlling the five-axis linkage trajectory error, ensuring machining accuracy, and improving Processing efficiency plays an important role. [0004] At present, there ...

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Application Information

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IPC IPC(8): G05B19/404
CPCG05B19/404G05B2219/31434Y02P90/02
Inventor 吕盾叶欣欣刘辉
Owner XI AN JIAOTONG UNIV
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