A precise compensation machining method considering workpiece clamping posture deviation

Abstract

A kind of precision compensation machining method considering workpiece clamping posture deviation, it can be applicable to numerical control machining program correction under the condition of workpiece deformation or clamping error.First, the approximation solution model of workpiece posture is established, the optimal workpiece posture correction matrix is calculated using the input initial condition;Second, based on the optimal workpiece posture correction matrix, the solving formula of double swing head five-axis machine tool fixed axis machining motion is derived;Then, using the derived motion solving formula for post-processing calculation, the corrected motion coordinates of machine tool translation axis and rotation axis are obtained, with preposed tool position coordinates and tool axis vector as input;Finally, precision compensation machining considering workpiece clamping posture deviation is realized.The present application solves the problem of numerical control machining program correction under the condition of workpiece deformation or clamping error.

Description

Technical Field

[0001] This invention relates to a precision compensation machining method that takes into account workpiece clamping posture deviation, and belongs to the field of CNC machining technology. Background Technology

[0002] Due to deformation and clamping / alignment errors, the workpiece's posture is prone to deviating from the design state. To correct posture deviations, common methods include: ① fine-tuning and aligning the workpiece, and ② fine-tuning and reprogramming the model. Method ① requires repeated posture adjustments, which is cumbersome and inefficient; method ② involves complex calculations and is prone to errors, resulting in low efficiency and reliability. Summary of the Invention

[0003] The technical problem solved by this invention is to overcome the shortcomings of the prior art and provide a precision compensation machining method that takes into account the workpiece clamping posture deviation, thereby solving the problem of CNC machining program correction under the condition of workpiece deformation or clamping error.

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

[0005] Step 1: Obtain the coordinates r of feature point P0 on the workpiece. P0 Initial tool axis vector n0, and coordinates r of the measured reference point P. P Together with the measured direction vector n, they form the initial condition set U0:{r P0 ,n0,r P ,n};

[0006] Step 2: Establish a system based on the initial condition U0:{r P0 ,n0,r P An approximation solution model for the workpiece posture of {x,n} is used, and the optimal workpiece posture correction matrix M is obtained through iterative calculation. * ;

[0007] Step 3: Based on the optimal workpiece posture correction matrix M * Obtain the motion solution formula for fixed-axis machining on a dual-swivel head five-axis machine tool;

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

[0009] Step 5: Perform compensation machining using the corrected machine tool translation axis motion coordinates [X,Y,Z] and rotary axis motion coordinates [C,A].

[0010] Further, in step one, the feature point P0 is any 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 actual clamping; the measured direction vector n is the measured unit direction vector of the structural feature S after actual clamping; wherein, the initial tool axis vector n0 revolves around a unique unit vector u * Rotate unique angle It can be transformed into the measured direction vector n.

[0011] Furthermore, the unit vector u * To approximate the value obtained through iterative calculation, 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 Let τ represent a unit vector in the same direction as the vector sum of the initial tool axis vector n0 and the measured direction vector n, and let α be the independent variable representing vector u. S Let D(τ,α) be the rotation axis angle about vector τ to vector u(α), where I is the 3rd order identity matrix, and u(α) is the unit vector u. S The unit vector obtained by left multiplying by the Rodrigue matrix D(τ,α).

[0017] Furthermore, the unique angle It is 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 vectors obtained by left multiplying by the Rodrigue matrix D(τ,α) are: v1 represents the vector whose endpoint is the initial tool axis vector n0 and is perpendicular to the unit vector u(α); v2 represents the vector whose endpoint is the measured tool axis vector n and is perpendicular to the unit vector u(α). This represents the rotation angle of vector v1 around u(α) to vector v2.

[0022] Furthermore, the approximation solution model for the workpiece posture in step two uses the minimum iteration 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 by the Rodrigue matrix D(τ,α) Let α be the rotation axis angle, and d(u) represent the minimum iteration error when the value α is taken. Rotation axis angle about unit vector u(α) The Rodrigues rotation matrix, where ε is the tolerance and I is the identity matrix.

[0026] Furthermore, in step two, the approximation solution model for the workpiece posture updates the boundary values ​​of the independent variable α using a bisection iteration method, and obtains the optimal solution α. * When the following constraints are met:

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

[0028] Where ε is the tolerance, k is the number of iterations, and d(α) k ) represents the value α k The minimum iteration error at that time.

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

[0030]

[0031] Where, α * For the optimal solution, u(α) * ) represents the unit vector u S Left-multiplying the Rodrigue matrix D(τ,α) * The unit vector obtained after ) is φ(α)* ) represents the value α * The rotation axis angle at time, D(u(α) * ),φ(α * )) represents the orbit around the unit vector u(α) * Rotation axis angle φ(α) * The Rodrigues rotation matrix of ).

[0032] Furthermore, the motion solution formulas described in step three and step D are as follows:

[0033]

[0034]

[0035]

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

[0037] A computer-readable storage medium storing a computer program, which, when executed by a processor, implements steps one through four of a precision compensation machining process that takes into account workpiece clamping posture deviation.

[0038] A precision compensation machining device that takes into account 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, it implements steps one through four of the precision compensation machining process that takes into account workpiece clamping posture deviation.

[0039] The advantages of this invention compared to the prior art are:

[0040] (1) This invention establishes an approximation solution model for workpiece posture and realizes the solution of workpiece posture correction matrix, laying a theoretical foundation for post-processing compensation calculation of tool position coordinates.

[0041] (2) This invention derives the motion solution formula for fixed-axis machining of a double-swivel head five-axis machine tool, and obtains the correction calculation formula for the motion coordinates of the translational axis and the rotary axis of the machine tool by combining the workpiece posture correction matrix obtained by the solution; and finally realizes precision compensation machining that takes into account the workpiece clamping posture deviation. Attached Figure Description

[0042] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0043] Figure 1 a, Figure 1 b、 Figure 1 c represents schematic diagrams of workpieces with three different processing characteristics.

[0044] Figure 2 Schematic diagram of a machining test scheme for workpieces with three different machining characteristics

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

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

[0047] Figure 5 This is a schematic diagram of the spatial deviation error d(α). Detailed Implementation

[0048] To better understand the above technical solutions, the technical solutions of the present invention will be described in detail below with reference to 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 solutions of the present invention, rather than limitations on the technical solutions 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 description, in conjunction with the accompanying drawings, provides a more detailed explanation of a precision compensation machining method for workpiece clamping posture deviation provided by an embodiment of the present invention. The specific implementation may include: First, establishing an approximate solution model for the workpiece posture, and calculating the optimal workpiece posture correction matrix using the input initial conditions; second, deriving the motion solution formula for fixed-axis machining on a dual-swivel head five-axis machine tool based on the optimal workpiece posture correction matrix; then, using the forward tool position coordinates and tool axis vector as input, performing post-processing calculations using the derived motion solution formula to obtain the corrected motion coordinates of the machine tool's translational and rotary axes; finally, using the corrected machine tool translational axis motion coordinates [X,Y,Z] and rotary axis motion coordinates [C,A] for compensation machining.

[0050] In the solutions provided in the embodiments of the present invention, such as Figure 1 , Figure 2 ,include:

[0051] Example 1:

[0052] S1: Construct initial conditions. Figure 1 In the theoretical model of the circular feature workpiece shown in (a), a point is arbitrarily selected on the central axis of the circular hole as the feature point P0, with coordinates r. P0 [-120.418,0.0,6.170], the tool axis vector direction for fixed-axis machining is parallel to the axis direction of the circular hole, 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 central axis of the circular hole are measured, and the coordinates r of the reference point P are obtained. P The initial condition set U0 is obtained by measuring the direction vector of the central axis of the circular hole, which is [-142.682, -113.037, 107.435], and obtaining the measured direction vector n: [-0.426, -0.336, 0.839], and then obtaining the initial condition set U0: {r P0 ,n0,r P ,n};

[0053] S2: Iterative calculation to obtain the optimal workpiece posture correction matrix M * It includes the following detailed steps:

[0054] S2.1: Utilizing Figure 3 The initial tool axis vector n0 is shown with endpoint N0 and the measured direction vector n is used to construct a vector. The perpendicular bisector Σ.

[0055] S2.2: Utilization and Figure 4 The vector shown Unit vectors u in the same direction s , and vector Unit vectors τ and u in the same direction s Construct a unit vector u(α) by rotating it around the unit vector τ by an angle 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 a 3rd order identity matrix.

[0061] S2.3: Calculation Figure 5 The initial tool axis vector n0 is shown to rotate 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: Let the feature point P0 be rotated around the unit vector u(α) by an angle. The points obtained are Figure 5 Point P(α) is shown, and P(α) is located at... Figure 4 The shortest distance d(α) of the 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 boundary of the 0th iteration is α. s0 =0, upper boundary is α e0 =π. Let α be the value of the k-th iteration. k The corresponding boundary is α sk and α ek Calculate the minimum iteration error d(α) for the k-th iteration. k The binary iterative method is used to update and calculate the value of α for the (k+1)th iteration. k+1 =(α sk +α ek ) / 2, and calculate the minimum iteration error d(α) for the (k+1)th iteration. k+1 The optimal solution α is obtained under the following constraints.

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

[0070] The tolerance ε is 0.03 mm.

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

[0072]

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

[0074]

[0075]

[0076]

[0077] Among them, M ij M represents the optimal workpiece posture correction matrix. * 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 formulas. Figure 1 (a) The toolpath's forward tool position coordinates [x, y, z] and tool axis vector [i, j, k] are used as inputs to calculate the corrected machine tool translational axis motion coordinates [X, Y, Z] and rotary axis motion coordinates [C, A]. The set of the calculated coordinates constitutes the attitude-corrected NC code file. After machining using the obtained NC code, the measured profile deviation of the circular feature machining was 0–0.041 mm, proving the feasibility of the method provided by this invention.

[0079] Example 2:

[0080] S1: Construct initial conditions. Figure 1 In the theoretical model of the rectangular sinkhole feature workpiece shown in (b), an arbitrary point is taken on the central axis of the rectangular sinkhole as the feature point P0, and its coordinates are r. P0 [-120.418,0.0,6.170], the tool axis vector direction for fixed-axis machining is parallel to the direction of the central axis of the rectangular countersink, 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 central axis of the rectangular countersink are measured to obtain the coordinates r of the reference point P. P The direction vector is calculated as [-80.517, -39.280, -35.479], and the measured direction vector n is [-0.469, -0.227, 0.854], thus obtaining the initial condition set U0: {r P0 ,n0,r P ,n};

[0081] S2: Iterative calculation to obtain the optimal workpiece posture correction matrix M * It includes the following detailed steps:

[0082] S2.1: Utilizing Figure 3 The initial tool axis vector n0 is shown with endpoint N0 and the measured direction vector n is used to construct a vector. The perpendicular bisector Σ.

[0083] S2.2: Utilization and Figure 4 The vector shown Unit vectors u in the same direction s , and vector Unit vectors τ and u in the same direction s Construct a unit vector u(α) by rotating it around the unit vector τ by an angle 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 a 3rd order identity matrix.

[0089] S2.3: Calculation Figure 5 The initial tool axis vector n0 is shown to rotate 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: Let the feature point P0 be rotated around the unit vector u(α) by an angle. The points obtained are Figure 5 Point P(α) is shown, and P(α) is located at... Figure 4 The shortest distance d(α) of the 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 boundary of the 0th iteration is α. s0 =0, upper boundary is α e0 =π. Let α be the value of the k-th iteration. k The corresponding boundary is α sk and α ekCalculate the minimum iteration error d(α) for the k-th iteration. k The binary iterative method is used to update and calculate the value of α for the (k+1)th iteration. k+1 =(α sk +α ek ) / 2, and calculate the minimum iteration error d(α) for the (k+1)th iteration. k+1 The optimal solution α is obtained under the following constraints.

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

[0098] The tolerance ε is 0.03 mm.

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

[0100]

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

[0102]

[0103]

[0104]

[0105] Among them, M ij M represents the optimal workpiece posture correction matrix. * 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 formulas. Figure 1 (b) Using the toolpath's forward tool position coordinates [x, y, z] and tool axis vector [i, j, k] as input, the corrected machine tool translational axis motion coordinates [X, Y, Z] and rotary axis motion coordinates [C, A] are calculated. The set of the obtained coordinates constitutes the attitude-corrected NC code file. After machining using the obtained NC code, the measured profile deviation of the rectangular countersunk feature is 0–0.022 mm, proving the feasibility of the method provided by this invention.

[0107] Example 3:

[0108] S1: Construct initial conditions. Figure 1In the theoretical model of the curved surface feature workpiece shown in (c), a point is arbitrarily selected on the normal line of the reference inclined plane of the curved surface feature as the feature point P0, with coordinates r. P0 [-120.418,0.0,6.170], the tool axis vector direction for fixed-axis machining is parallel to the normal direction 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 r of the reference point P are obtained. P The initial condition set U0 is obtained by measuring the direction vector of the normal to the reference inclined plane, which is [-89.200, -32.792, -28.034], and obtaining the measured direction vector n: [-0.518, -0.191, 0.834], and then obtaining the initial condition set U0: {r P0 ,n0,r P ,n};

[0109] S2: Iterative calculation to obtain the optimal workpiece posture correction matrix M * It includes the following detailed steps:

[0110] S2.1: Utilizing Figure 3 The initial tool axis vector n0 is shown with endpoint N0 and the measured direction vector n is used to construct a vector. The perpendicular bisector Σ.

[0111] S2.2: Utilization and Figure 4 The vector shown Unit vectors u in the same direction s , and vector Unit vectors τ and u in the same direction s Construct a unit vector u(α) by rotating it around the unit vector τ by an angle 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 a 3rd order identity matrix.

[0117] S2.3: Calculation Figure 5 The initial tool axis vector n0 is shown to rotate 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: Let the feature point P0 be rotated around the unit vector u(α) by an angle. The points obtained are Figure 5 Point P(α) is shown, and P(α) is located at... Figure 4 The shortest distance d(α) of the 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 boundary of the 0th iteration is α. s0 =0, upper boundary is α e0 =π. Let α be the value of the k-th iteration. k The corresponding boundary is α sk and α ek Calculate the minimum iteration error d(α) for the k-th iteration. k The binary iterative method is used to update and calculate the value of α for the (k+1)th iteration. k+1 =(α sk +α ek ) / 2, and calculate the minimum iteration error d(α) for the (k+1)th iteration. k+1 The optimal solution α is obtained under the following constraints.

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

[0126] The tolerance ε is 0.03 mm.

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

[0128]

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

[0130]

[0131]

[0132]

[0133] Among them, M ij M represents the optimal workpiece posture correction matrix. * 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 formulas. Figure 1 (c) The preceding tool position coordinates [x, y, z] and tool axis vector [i, j, k] of the toolpath shown are used as input to calculate the corrected machine tool translational axis motion coordinates [X, Y, Z] and rotary axis motion coordinates [C, A]. The set of the obtained coordinates constitutes the attitude-corrected NC code file. After machining using the obtained NC code, the measured profile tool contact deviation for surface feature machining is 0–0.023 mm, proving the feasibility of the method provided by this invention.

[0135] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

[0136] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. A precision machining method considering workpiece clamping posture deviation, characterized in that, include: Step 1: Obtain the feature points of the workpiece P coordinates of 0 r P0 Initial tool axis vector n 0. Measured benchmark point P coordinates r P and measured direction vector n This constitutes the initial condition set. U 0:{ r P0 , n 0, r P , n }; Step 2: Establish based on initial conditions U 0:{ r P0 , n 0, r P , n An approximation solution model for the workpiece posture is used, and the optimal workpiece posture correction matrix is ​​obtained through iterative calculation. ; Step 3: Correction based on the optimal workpiece posture matrix Obtain the motion solution formula for fixed-axis machining on a dual-swivel head five-axis machine tool; Step 4: Using the forward tool position coordinates [ x , y , z ] and tool axis vector [ i , j , k Using the aforementioned motion solution formula as input, the corrected machine tool translation axis motion coordinates are calculated. 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 Perform compensation processing; The feature points mentioned in step one P 0 represents any spatial point selected in the workpiece theoretical model; the initial tool axis vector. n 0 represents a structural feature on the workpiece. S The unit direction vector; benchmark P The coordinates of a structural feature point on the workpiece after actual clamping; the measured direction vector. n Structural features after actual clamping S The measured unit direction vector; where the initial tool axis vector is... n 0 around a unique unit vector Rotate unique angle Able to be transformed into a measured direction vector n ; The unit vector is an approximation obtained through iterative calculation. u It's about the independent variable. α The function is expressed as: in, u S Represents the relationship with the initial tool axis vector n 0 and measured direction vector n The vector and the unit vector in the same direction, τ Represents the relationship with the initial tool axis vector n 0 and measured direction vector n The vector difference is a unit vector in the same direction. α The independent variable is a vector. u S Around vector τ Rotate to vector rotation axis angle, D ( τ , α ) represents the orbit around the unit vector τ Rotation axis angle α The Rodrigues rotation matrix, I Represents a 3rd order identity matrix. Represents a unit vector u S Left multiplication of Rodrigue matrix D ( τ , α The unit vector obtained after ) The rotation axis angle is obtained by the following formula: ； in, Represents a unit vector u S Left multiplication of Rodrigue matrix D ( τ , α The unit vector obtained after ) Indicates the initial tool axis vector n The endpoint of 0 is the endpoint, and it is perpendicular to the unit vector. vector, Represented by the measured tool axis vector n The endpoint is the endpoint, and it is perpendicular to the unit vector. vector, Represents vector Around Rotate to vector The rotation axis angle; The approximation solution model for the workpiece posture in step two is used to obtain values. α Minimum iteration error d ( α To optimize the objective function, its expression is: in, Represents a unit vector u S Left multiplication of Rodrigue matrix D ( τ , α The unit vector obtained after ) The rotation axis angle, Indicates the value α Minimum iteration error at time D ( , ) is the unit vector Rotation axis angle The Rodrigues rotation matrix, To allow for tolerance, It is the identity matrix; The motion solution formula mentioned in step three is as follows: in, M ij Represents the optimal workpiece posture correction matrix No. i Line number j Column elements, i , j All are positive integers ranging from 1 to 3. , , These are the motion coordinates of the machine tool's translational axes. , , These are the tool position coordinates in the preceding tool position file. For the length of the blade, Let be the rotation angle about the machine tool's X-axis. It is the rotation angle around the machine tool's Z-axis.

2. The precision compensation machining method considering workpiece clamping posture deviation according to claim 1, characterized in that, In step two, the approximation model for the workpiece posture updates the independent variables using a binary iterative method. α The boundary values ​​of the solution are determined, and the optimal solution is obtained. When the following constraints are met: in, ε To allow for tolerance, l For the number of iterations, d ( α l ) indicates the value. α l The minimum iteration error at that time.

3. The precision compensation machining method considering workpiece clamping posture deviation according to claim 1, characterized in that, The optimal workpiece posture correction matrix in step two The expression is: in, This is the optimal solution. u ( ) represents the unit vector u S Left multiplication of Rodrigue matrix D ( τ , The unit vector obtained after ) φ ( ) represents the value The rotation axis angle at that time, D ( u ( ), φ ( )) represents the orbit around a unit vector u ( Rotation axis angle φ ( The Rodrigues rotation matrix of ).

4. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements steps one through four as described in any one of claims 1 to 3.

5. A precision compensation machining device that considers 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, it implements steps one through four as described in any one of claims 1 to 3.

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