Precise compensation machining method considering workpiece clamping posture deviation

Abstract

The invention discloses a precision compensation machining method considering workpiece clamping posture deviation. The precision compensation machining method can be suitable for numerical control machining program correction under the condition of workpiece deformation or clamping errors. The method comprises the following steps: firstly, establishing an approximation solution model of a workpiece attitude, and calculating to obtain an optimal workpiece attitude correction matrix by using an input initial condition; secondly, a fixed-axis machining motion solving formula of the double-swing-head five-axis machine tool is deduced based on the optimal workpiece posture correction matrix; then, by taking the front cutter position coordinates and the cutter shaft vector as input, performing post-processing calculation by utilizing a derived motion solution formula to obtain corrected motion coordinates of a translation shaft and a rotating shaft of the machine tool; and finally, precise compensation machining considering the workpiece clamping posture deviation is achieved. The problem of numerical control machining program correction under the condition of workpiece deformation or clamping errors is solved.

Description

Technical Field

[0001] The invention relates to a precision compensation processing method taking into account the workpiece clamping posture deviation, and belongs to the technical field of numerical control processing. Background Art

[0002] Affected by deformation and clamping alignment errors, the workpiece posture is easy to deviate from the designed state. To correct the posture deviation, common processing methods include: ① fine-tuning the alignment of the workpiece and ② fine-tuning the model and reprogramming. Among them, method ① requires repeated posture adjustments, which is cumbersome and inefficient; method ② has a complex calculation process and is prone to errors, and its efficiency and reliability are not high. Summary of the invention

[0003] The technical problem solved by the present invention is: to overcome the deficiencies of the prior art, to provide a precision compensation processing method taking into account the workpiece clamping posture deviation, and to solve the problem of correcting the CNC processing program in the case of workpiece deformation or clamping error.

[0004] The technical solution of the present invention is: a precision compensation processing method considering the workpiece clamping posture deviation, comprising:

[0005] Step 1: Get the coordinate r of the feature point P0 of the workpiece P0 , initial tool axis vector n0, coordinates of measured reference point P r P and the measured direction vector n, constitute the initial condition set U0:{r P0 ,n0,r P ,n};

[0006] Step 2: Establish the initial condition U0:{r P0 ,n0,r P ,n}, and obtain the optimal workpiece posture correction matrix M through iterative calculation. * ;

[0007] Step 3: Correct the matrix M based on the optimal workpiece posture * Obtain the solution formula for fixed-axis machining motion of a double-swing head five-axis machine tool;

[0008] Step 4: Using the previous tool position coordinates [x, y, z] and the tool axis vector [i, j, k] as input, the motion solution formula is used to calculate the corrected machine tool translation axis motion coordinates [X, Y, Z] and rotation axis motion coordinates [C, A];

[0009] Step 5: Use the corrected machine tool translation axis motion coordinates [X, Y, Z] and rotation axis motion coordinates [C, A] to perform compensation processing.

[0010] Furthermore, the feature point P0 described in step 1 is an arbitrary spatial point selected in the theoretical model of the workpiece; the initial tool axis vector n0 is the unit direction vector of a certain structural feature S on the workpiece; the reference point P is the coordinate of a certain structural feature point on the workpiece after the actual clamping is completed; the measured direction vector n is the measured unit direction vector of the structural feature S after the actual clamping is completed; wherein the initial tool axis vector n0 revolves around the unique unit vector u * Rotate only angle Can be transformed into the measured direction vector n.

[0011] Furthermore, the unit vector u * The approximate value obtained by iterative calculation is that the unit vector u is a function of the independent variable α, and its expression is:

[0012] u(α)=D(τ,α)u s

[0013] u s =(n0+n) / ‖n0+n‖

[0014] τ=(n0-n) / ‖n0-n‖

[0015] D(τ,α)=I+sinα(τ×)+(1-cosα)(τ×) 2

[0016] Among them, u S represents the unit vector in the same direction as the vector sum of the initial tool axis vector n0 and the measured direction vector n, τ represents the unit vector in the same direction as the vector difference of the initial tool axis vector n0 and the measured direction vector n, α is the independent variable, representing the vector u S The rotation axis angle of rotation around vector τ to vector u(α), D(τ,α) represents the Rodriguez rotation matrix of the rotation axis angle α around the unit vector τ, I represents the third-order identity matrix, and u(α) represents the unit vector u S The unit vector obtained by left-multiplying the Rodriguez matrix D(τ,α).

[0017] Furthermore, the unique angle Obtained through the following calculation formula:

[0018]

[0019] v1=n0-[u(α)·n0]u(α)

[0020] v2=n-[u(α)·n0]u(α);

[0021] Where u(α) represents the unit vector u SThe unit vector obtained by left-multiplying the Rodrigues matrix D(τ,α), v1 represents the vector with the end point of the initial tool axis vector n0 as the end point and perpendicular to the unit vector u(α), v2 represents the vector with the end point of the measured tool axis vector n as the end point and perpendicular to the unit vector u(α), It represents the rotation angle of vector v1 around u(α) to vector v2.

[0022] Furthermore, the approximate solution model of the workpiece posture in step 2 takes the minimum iterative error d(α) when the value α is taken as the optimization objective function, and its expression is:

[0023]

[0024]

[0025] Where u(α) represents the unit vector u S The unit vector obtained by left-multiplying the Rodriguez matrix D(τ,α), is the rotation axis angle, d(u) represents the minimum iteration error when taking the value α, is the rotation angle around the unit vector u(α) is the Rodriguez rotation matrix, ε is the tolerance, and I is the identity matrix.

[0026] Furthermore, the approximate solution model of the workpiece posture in step 2 updates the value boundary of the independent variable α by the binary iteration method, and obtains the optimal solution α * When , the following constraints are satisfied:

[0027] α * ={α k+1 ||d(α k+1 )|≤ε∧|d(α k )|>ε,ε>0,k∈N *}

[0028] Among them, ε is the tolerance, k is the number of iterations, d(α k ) represents the value α k The minimum iteration error.

[0029] Furthermore, the optimal workpiece posture correction matrix M in step 2 is * The expression is:

[0030]

[0031] Among them, α * is the optimal solution, u(α * ) represents the unit vector u S Left multiply the Rodriguez matrix D(τ,α * ) after the unit vector, φ(α* ) is the value α * The rotation axis angle at * ),φ(α * )) represents the rotation around the unit vector u(α * )Rotation axis angle φ(α * ) is the Rodriguez rotation matrix of .

[0032] Furthermore, the motion solution formula described in step 3 and D is as follows:

[0033]

[0034]

[0035]

[0036] Among them, M ij Represents the optimal workpiece posture correction matrix M * The element in the i-th row and j-th column, i and j are both positive integers ranging from 1 to 3, X, Y, and Z are the motion coordinates of the machine tool's translational axis, x, y, and z are the tool position coordinates in the front tool position file, L is the tool swing length, A is the rotation angle of the rotation axis around the machine tool's X-axis, and C is the rotation angle of the rotation axis around the machine tool's Z-axis.

[0037] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of step 1 to step 4 of the precision compensation processing considering the workpiece clamping posture deviation are implemented.

[0038] A precision compensation processing device that takes into account the workpiece clamping posture deviation includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, steps one to four of the precision compensation processing that takes into account the workpiece clamping posture deviation are implemented.

[0039] The advantages of the present invention compared with the prior art are:

[0040] (1) The present invention realizes the solution of the workpiece posture correction matrix by establishing an approximate solution model of the workpiece posture, laying a theoretical foundation for the post-processing compensation calculation of the tool position coordinates;

[0041] (2) The present invention derives the solution formula for the fixed-axis machining motion of a double-swing head five-axis machine tool, and combines the solved workpiece posture correction matrix to obtain the correction calculation formula for the motion coordinates of the machine tool's translational axis and rotational axis; ultimately, precise compensation machining that takes into account the workpiece clamping posture deviation is achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0043] Figure 1 a. Figure 1 b. Figure 1 c are schematic diagrams of workpieces with three different machining features.

[0044] Figure 2 Schematic diagram of the machining test plan for workpieces with three different machining features

[0045] Figure 3 is a schematic diagram of the activity plane Σ for the unit vector u.

[0046] Figure 4 It is a schematic diagram of the iterative process based on the independent variable α.

[0047] Figure 5 It is a schematic diagram of the spatial deviation error d(α). DETAILED DESCRIPTION

[0048] In order to better understand the above technical scheme, the technical scheme of the present invention is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical scheme of the present invention, rather than limitations on the technical scheme of the present invention. In the absence of conflict, the embodiments of the present invention and the technical features in the embodiments can be combined with each other.

[0049] The following is a further detailed description of a precision compensation processing method that takes into account the workpiece clamping posture deviation provided by an embodiment of the present invention in conjunction with the drawings in the specification. The specific implementation method may include: first, establishing an approximate solution model for the workpiece posture, and using the input initial conditions to calculate and obtain the optimal workpiece posture correction matrix; secondly, deriving the fixed-axis machining motion solution formula of a double-swing head five-axis machine tool based on the optimal workpiece posture correction matrix; then, taking the advance tool position coordinates and the tool axis vector as input, using the derived motion solution formula for post-processing calculations to obtain the corrected motion coordinates of the machine tool translation axis and rotation axis; finally, using the corrected machine tool translation axis motion coordinates [X, Y, Z] and rotation axis motion coordinates [C, A] for compensation processing.

[0050] In the solution provided in the embodiment of the present invention, Figure 1 , Figure 2 ,include:

[0051] Embodiment 1:

[0052] S1: Construct initial conditions. Figure 1 In the theoretical model of the circular feature workpiece shown in (a), any point on the center axis of the circular hole is selected as the feature point P0, and its coordinates are r P0 :[-120.418,0.0,6.170], the direction of the tool axis vector of the fixed axis machining is parallel to the direction of the circular hole axis, and the initial tool axis vector is n0:[-0.574,0.0,0.819]; after the workpiece is clamped in an arbitrary posture, the coordinates of a point on the central axis of the circular hole are measured, and the coordinates of the reference point P are obtained. P :[-142.682,-113.037,107.435], and measure the direction vector of the center axis of the circular hole to obtain the measured direction vector n:[-0.426,-0.336,0.839], and then obtain the initial condition set U0:{r P0 ,n0,r P ,n};

[0053] S2: Iterative calculation to obtain the optimal workpiece posture correction matrix M * , including the following subdivision steps:

[0054] S2.1: Utilization Figure 3 The endpoint N0 of the initial tool axis vector n0 and the endpoint N of the measured direction vector n construct the vector The median perpendicular plane Σ.

[0055] S2.2: Utilization and Figure 4 Vector shown Unit vector u in the same direction s , and vector The same-direction unit vector τ and the unit vector u s The rotation angle α around the unit vector τ constructs the unit vector u(α).

[0056] u(α)=D(τ,α)u s

[0057] u s =(n0+n) / ‖n0+n‖

[0058] τ=(n0-n) / ‖n0-n‖

[0059] D(τ,α)=I+sinα(τ×)+(1-cosα)(τ×) 2

[0060] Where I is the third-order identity matrix.

[0061] S2.3: Calculation Figure 5 The initial tool axis vector n0 is rotated around the unit vector u(α) to a rotation angle parallel to the measured direction vector n. The calculation expression is:

[0062]

[0063] v1=n0-[u(α)·n0]u(α)

[0064] v2=n-[u(α)·n0]u(α)

[0065] S2.4: Record the rotation angle of feature point P0 around unit vector u(α) The obtained point is Figure 5 The point P(α) shown here, P(α) to Figure 4 The shortest distance d(α) of the straight line m passing through point P and in the same direction as vector n is the minimum iteration error when the value α is taken, and its calculation formula is:

[0066]

[0067]

[0068] S2.5: Given that the range of α is [0,π], the lower bound of the 0th iteration is α s0 =0, the upper boundary is α e0 =π. Let the value of α in the kth iteration be α k , the corresponding boundary is α sk and α ek , calculate the kth minimum iteration error d(α k ). Use the binary iteration method to update the k+1th α to get the value of α k+1 =(α sk +α ek ) / 2, and calculate the k+1th minimum iteration error d(α k+1 ). The optimal solution α is obtained according to the following constraints.

[0069] α * ={α k+1 ||d(α k+1 )|≤ε∧|d(α k )|>ε,ε>0}

[0070] Among them, the tolerance ε is 0.03mm.

[0071] S2.6: Calculate the optimal workpiece posture correction matrix M * , whose expression is:

[0072]

[0073] S3: Based on the optimal workpiece posture correction matrix M * Derivation of the solution formula for fixed axis machining motion of double swing head five-axis machine tool:

[0074]

[0075]

[0076]

[0077] Among them, M ij Represents the optimal workpiece posture correction matrix M * The element in the i-th row and j-th column, where i and j are both positive integers ranging from 1 to 3.

[0078] S4: Develop post-processing software using the derived motion solution formula Figure 1 The front tool position coordinates [x, y, z] and tool axis vector [i, j, k] of the tool path shown in (a) are used as input to calculate the corrected machine tool translation axis motion coordinates [X, Y, Z] and rotation axis motion coordinates [C, A]. The set of required coordinates constitutes the NC code file after posture correction. After the obtained NC code is used to complete the processing, the profile deviation of the circular feature processing is measured to be 0 to 0.041 mm, which proves the feasibility of the method provided by the present invention.

[0079] Embodiment 2:

[0080] S1: Construct initial conditions. Figure 1 In the theoretical model of the rectangular sink feature workpiece shown in (b), any point on the central axis of the rectangular sink is selected as the feature point P0, and its coordinates are r P0 :[-120.418,0.0,6.170], the direction of the tool axis vector of the fixed axis machining is parallel to the direction of the center axis of the rectangular sink, and the initial tool axis vector is n0:[-0.574,0.0,0.819]; after the workpiece is clamped in any posture, the coordinates of a point on the center axis of the rectangular sink are measured, and the coordinates of the reference point P are obtained. P :[-80.517,-39.280,-35.479], and measure the direction vector of the central axis of the rectangular sink to obtain the measured direction vector n: [-0.469,-0.227,0.854], and then obtain the initial condition set U0:{r P0 ,n0,r P ,n};

[0081] S2: Iterative calculation to obtain the optimal workpiece posture correction matrix M * , including the following subdivision steps:

[0082] S2.1: Utilization Figure 3 The endpoint N0 of the initial tool axis vector n0 and the endpoint N of the measured direction vector n construct the vector The median perpendicular plane Σ.

[0083] S2.2: Utilization and Figure 4 Vector shown Unit vector u in the same direction s , and vector The same-direction unit vector τ and the unit vector u s The rotation angle α around the unit vector τ constructs the unit vector u(α).

[0084] u(α)=D(τ,α)u s

[0085] n s =(n0+n) / ‖n0+n‖

[0086] τ=(n0-n) / ‖n0-n‖

[0087] D(τ,α)=I+sinα(τ×)+(1-cosα)(τ×) 2

[0088] Where I is the third-order identity matrix.

[0089] S2.3: Calculation Figure 5 The initial tool axis vector n0 is rotated around the unit vector u(α) to a rotation angle parallel to the measured direction vector n. The calculation expression is:

[0090]

[0091] v1=n0-[u(α)·n0]u(α)

[0092] v2=n-[u(α)·n0]u(α)

[0093] S2.4: Record the rotation angle of feature point P0 around unit vector u(α) The obtained point is Figure 5 The point P(α) shown here, P(α) to Figure 4 The shortest distance d(α) of the straight line m passing through point P and in the same direction as vector n is the minimum iteration error when the value α is taken, and its calculation formula is:

[0094]

[0095]

[0096] S2.5: Given that the range of α is [0,π], the lower bound of the 0th iteration is α s0 =0, the upper boundary is α e0 =π. Let the value of α in the kth iteration be α k , the corresponding boundary is α sk and α ek, calculate the kth minimum iteration error d(α k ). Use the binary iteration method to update the k+1th α to get the value of α k+1 =(α sk +α ek ) / 2, and calculate the k+1th minimum iteration error d(α k+1 ). The optimal solution α is obtained according to the following constraints.

[0097] α * ={α k+1 ||d(α k+1 )|≤ε∧|d(α k )|>ε,ε>0}

[0098] Among them, the tolerance ε is 0.03mm.

[0099] S2.6: Calculate the optimal workpiece posture correction matrix M * , whose expression is:

[0100]

[0101] S3: Based on the optimal workpiece posture correction matrix M * Derivation of the solution formula for fixed axis machining motion of double swing head five-axis machine tool:

[0102]

[0103]

[0104]

[0105] Among them, M ij Represents the optimal workpiece posture correction matrix M * The element in the i-th row and j-th column, where i and j are both positive integers ranging from 1 to 3.

[0106] S4: Develop post-processing software using the derived motion solution formula Figure 1 (b) The front tool position coordinates [x, y, z] and the tool axis vector [i, j, k] of the tool path are used as input to calculate the corrected machine tool translation axis motion coordinates [X, Y, Z] and rotation axis motion coordinates [C, A]. The set of required coordinates constitutes the NC code file after posture correction. After the processing is completed using the obtained NC code, the profile deviation of the rectangular sink feature processing is measured to be 0 to 0.022 mm, which proves the feasibility of the method provided by the present invention.

[0107] Embodiment 3:

[0108] S1: Construct initial conditions. Figure 1In the theoretical model of the surface feature workpiece shown in (c), any point on the normal line of the reference inclined plane of the surface feature is selected as the feature point P0, and its coordinates are r P0 :[-120.418,0.0,6.170], the direction of the tool axis vector of fixed axis machining is parallel to the direction of the normal line of the reference inclined plane, and the initial tool axis vector is n0:[-0.574,0.0,0.819]; after the workpiece is clamped in any posture, the coordinates of a point on the normal line of the reference inclined plane are measured, and the coordinates of the reference point P are obtained. P :[-89.200,-32.792,-28.034], and measure the direction vector of the normal line of the reference slope to obtain the measured direction vector n:[-0.518,-0.191,0.834], and then obtain the initial condition set U0:{r P0 ,n0,r P ,n};

[0109] S2: Iterative calculation to obtain the optimal workpiece posture correction matrix M * , including the following subdivision steps:

[0110] S2.1: Utilization Figure 3 The endpoint N0 of the initial tool axis vector n0 and the endpoint N of the measured direction vector n construct the vector The median perpendicular plane Σ.

[0111] S2.2: Utilization and Figure 4 Vector shown Unit vector u in the same direction s , and vector The same-direction unit vector τ and the unit vector u s The rotation angle α around the unit vector τ constructs the unit vector u(α).

[0112] u(α)=D(τ,α)u s

[0113] u s =(n0+n) / ‖n0+n‖

[0114] τ=(n0-n) / ‖n0-n‖

[0115] D(τ,α)=I+sinα(τ×)+(1-cosα)(τ×) 2

[0116] Where I is the third-order identity matrix.

[0117] S2.3: Calculation Figure 5 The initial tool axis vector n0 is rotated around the unit vector u(α) to a rotation angle parallel to the measured direction vector n. The calculation expression is:

[0118]

[0119] v1=n0-[u(α)·n0]u(α)

[0120] v2=n-[u(α)·n0]u(α)

[0121] S2.4: Record the rotation angle of feature point P0 around unit vector u(α) The obtained point is Figure 5 The point P(α) shown here, P(α) to Figure 4 The shortest distance d(α) of the straight line m passing through point P and in the same direction as vector n is the minimum iteration error when the value α is taken, and its calculation formula is:

[0122]

[0123]

[0124] S2.5: Given that the range of α is [0,π], the lower bound of the 0th iteration is α s0 =0, the upper boundary is α e0 =π. Let the value of α in the kth iteration be α k , the corresponding boundary is α sk and α ek , calculate the kth minimum iteration error d(α k ). Use the binary iteration method to update the k+1th α to get the value of α k+1 =(α sk +α ek ) / 2, and calculate the k+1th minimum iteration error d(α k+1 ). The optimal solution α is obtained according to the following constraints.

[0125] α * ={α k+1 ||d(α k+1 )|≤ε∧|d(α k )|>ε,ε>0}

[0126] Among them, the tolerance ε is 0.03mm.

[0127] S2.6: Calculate the optimal workpiece posture correction matrix M * , whose expression is:

[0128]

[0129] S3: Based on the optimal workpiece posture correction matrix M * Derivation of the solution formula for fixed axis machining motion of double swing head five-axis machine tool:

[0130]

[0131]

[0132]

[0133] Among them, M ij Represents the optimal workpiece posture correction matrix M * The element in the i-th row and j-th column, where i and j are both positive integers ranging from 1 to 3.

[0134] S4: Develop post-processing software using the derived motion solution formula Figure 1 The front tool position coordinates [x, y, z] and tool axis vector [i, j, k] of the tool path shown in (c) are used as input to calculate the corrected machine tool translation axis motion coordinates [X, Y, Z] and rotation axis motion coordinates [C, A]. The set of required coordinates constitutes the NC code file after posture correction. After the obtained NC code is used to complete the processing, the profile tool deviation of the surface feature processing is measured to be 0 to 0.023 mm, which proves the feasibility of the method provided by the present invention.

[0135] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

[0136] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

Claims

1. A precision compensation processing method considering the workpiece clamping posture deviation, characterized in that: include: Step 1: Get the coordinate r of the feature point P0 of the workpiece P0 , initial tool axis vector n0, coordinates of measured reference point P r P and the measured direction vector n, constitute the initial condition set U0:{r P0 ,n0,r P ,n}; Step 2: Establish the initial condition U0:{r P0 ,n0,r P ,n}, and obtain the optimal workpiece posture correction matrix M through iterative calculation. * ; Step 3: Correct the matrix M based on the optimal workpiece posture * Obtain the solution formula for fixed-axis machining motion of a double-swing head five-axis machine tool; Step 4: Using the previous tool position coordinates [x, y, z] and the tool axis vector [i, j, k] as input, the motion solution formula is used to calculate the corrected machine tool translation axis motion coordinates [X, Y, Z] and rotation axis motion coordinates [C, A]; Step 5: Use the corrected machine tool translation axis motion coordinates [X, Y, Z] and rotation axis motion coordinates [C, A] to perform compensation processing.

2. A precision compensation processing method considering the workpiece clamping posture deviation according to claim 1, characterized in that: The feature point P0 described in step 1 is an arbitrary spatial point selected in the theoretical model of the workpiece; the initial tool axis vector n0 is the unit direction vector of a structural feature S on the workpiece; the reference point P is the coordinate of a structural feature point on the workpiece after the actual clamping is completed; the measured direction vector n is the measured unit direction vector of the structural feature S after the actual clamping is completed; wherein the initial tool axis vector n0 revolves around the unique unit vector u * Rotate only angle Can be transformed into the measured direction vector n.

3. A precision compensation processing method considering the workpiece clamping posture deviation according to claim 2, characterized in that: The unit vector u * The approximate value obtained by iterative calculation is that the unit vector u is a function of the independent variable α, and its expression is: u(α)=D(τ,α)u s you s =(n0+n) / ‖n0+n‖ τ=(n0-n) / ‖n0-n‖ D(τ,α)=I+sinα(τ×)+(1-cosα)(τ×) 2 Among them, u S represents the unit vector in the same direction as the vector sum of the initial tool axis vector n0 and the measured direction vector n, τ represents the unit vector in the same direction as the vector difference of the initial tool axis vector n0 and the measured direction vector n, α is the independent variable, representing the vector u S The rotation axis angle of rotation around vector τ to vector u(α), D(τ,α) represents the Rodrigues rotation matrix of the rotation axis angle α around the unit vector τ, I represents the third-order identity matrix, and u(α) represents the unit vector u S The unit vector obtained by left-multiplying the Rodriguez matrix D(τ,α).

4. The precision compensation processing method considering the workpiece clamping posture deviation according to claim 2 is characterized in that: The only angle Obtained through the following calculation formula: v1=n0-[u(α)·n0]u(α) v2=n-[u(α)·n0]u(α); Where u(α) represents the unit vector u S The unit vector obtained by left-multiplying the Rodrigues matrix D(τ,α), v1 represents the vector with the end point of the initial tool axis vector n0 as the end point and perpendicular to the unit vector u(α), v2 represents the vector with the end point of the measured tool axis vector n as the end point and perpendicular to the unit vector u(α), It represents the rotation axis angle of vector v1 around u(α) to vector v2.

5. The precision compensation processing method considering the workpiece clamping posture deviation according to claim 1 is characterized in that: The approximate solution model of the workpiece posture in step 2 takes the minimum iterative error d(α) when the value is α as the optimization objective function, and its expression is: Where u(α) represents the unit vector u S The unit vector obtained by left-multiplying the Rodriguez matrix D(τ,α), is the rotation axis angle, d(α) represents the minimum iteration error when taking the value α, is the rotation angle around the unit vector u(α) is the Rodriguez rotation matrix, ε is the tolerance, and I is the identity matrix.

6. The precision compensation processing method considering the workpiece clamping posture deviation according to claim 1 is characterized in that: The approximate solution model of the workpiece posture in step 2 updates the value boundary of the independent variable α by the binary iteration method, and obtains the optimal solution α * When , the following constraints are satisfied: a * ={a k+1 ||d(a k+1 )|≤ε∧|d(α k )|>ε,ε>0,k∈N * } Among them, ε is the tolerance, k is the number of iterations, d(α k ) represents the value α k The minimum iteration error.

7. The precision compensation processing method considering the workpiece clamping posture deviation according to claim 1 is characterized in that: The optimal workpiece posture correction matrix M in step 2 * The expression is: Among them, α * is the optimal solution, u(α * ) represents the unit vector u S Left multiply the Rodriguez matrix D(τ,α * ) after the unit vector, φ(α * ) is the value α * The rotation axis angle at * ),φ(α * )) represents the rotation around the unit vector u(α * )Rotation axis angle φ(α * ) is the Rodriguez rotation matrix of .

8. The precision compensation processing method considering the workpiece clamping posture deviation according to claim 1 is characterized in that: The motion solution formula described in step 3 and D is as follows: Among them, M ij Represents the optimal workpiece posture correction matrix M * The element in the i-th row and j-th column, i and j are both positive integers ranging from 1 to 3, X, Y, and Z are the motion coordinates of the machine tool's translational axis, x, y, and z are the tool position coordinates in the front tool position file, L is the tool swing length, A is the rotation angle of the rotation axis around the machine tool's X-axis, and C is the rotation angle of the rotation axis around the machine tool's Z-axis.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of step 1 to step 4 as described in any one of claims 1 to claim 8 are implemented.

10. A precision compensation processing device that takes into account the workpiece clamping posture deviation, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps 1 to 4 described in any one of claims 1 to 8 are implemented.

Images