Realization of a 5-axis NURBS Interpolation with Controlled Angular Velocity

Liu, Yuan; Li, Hui; Yong-zhang, Wang

doi:10.1016/s1000-9361(11)60370-1

Cited by 17 publications

(8 citation statements)

References 12 publications

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“…respectively the parameter ' i m is the unit vector. In order to carry out cutter axis vector optimization easily [18], the cutter axis vector can be transformed by the following formula…”

Section: Planning Algorithmmentioning

confidence: 99%

Research on Trajectory Planning of 6-DOF Cutting-robot in Machining Complex Surface

Sheng-xi¹,

Wang²,

Xia³

et al. 2018

MATEC Web Conf.

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It is important and difficult for the complicated surface processing in mechanical industry. In this paper, an improved algorithm for trajectory planning is proposed in impeller surface processing by using 6-DOF cutting-robot. Taking a single finished path of the impeller blade as an example, the feedrate of the cutter, bow height error, cutter-orientation and position are planned by the B-spline interpolation algorithm, the best cutting trajectory is obtained. On the basis of trajectory planning, the optimal movement scheme of 6-DOF cutting-robot joints is obtained, the 6-DOF cutting-robot feedrate and trajectory smooth transition is achieved and the joints movement adaptive adjustment is completed. Finally, the angles, the angular velocitys of the joints and their interrelated properties are analyzed. The research works indicate that the robot joint angle curves are continuous and stable, which has met the requirements of smooth movement of the robot, and the results show that the trajectory planning is effective and practical.

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“…respectively the parameter ' i m is the unit vector. In order to carry out cutter axis vector optimization easily [18], the cutter axis vector can be transformed by the following formula…”

Section: Planning Algorithmmentioning

confidence: 99%

Research on Trajectory Planning of 6-DOF Cutting-robot in Machining Complex Surface

Sheng-xi¹,

Wang²,

Xia³

et al. 2018

MATEC Web Conf.

View full text Add to dashboard Cite

show abstract

“…However, the proposed method was an offline algorithm with many iterations. Liu et al 13 proposed a dual NURBS tool path interpolation for five-axis machining with controlled angular velocity. The proposed method did not use a NURBS curve to represent the cutter orientation vector but the two angles of the two rotary axes, thus the angular velocities of the two rotary axes can be controlled when determining the next sampling points in real-time interpolation.…”

Section: Introductionmentioning

confidence: 99%

Triple parametric tool path interpolation for five-axis machining with three-dimensional cutter compensation

Zhang

Wang

et al. 2018

Advances in Mechanical Engineering

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Parametric interpolation obtains a great success in three-axis surface machining with smooth motion, high accuracy, and high machining efficiency, but does not go well in five-axis surface machining due to lack of appropriate and efficient methods of tool path generation, interpolation, and three-dimensional cutter compensation. This article proposes a triple parametric tool path interpolation method for five-axis machining with three-dimensional cutter compensation, which proposes an appropriate triple parametric tool generation method for realizing the three-dimensional cutter compensation in five-axis parametric interpolation. A triple parametric interpolation algorithm is also proposed to realizing the simultaneous interpolation of the source data, which ensures the primitivity and maintains the accuracy. The proposed three-dimensional cutter compensation can compensate the errors caused by minor changes in cutter size, thus machining accuracy can be improved. Finally, illustrated example verifies the feasibility and applicability of the proposed methods.

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“…Yang et al 8 proposed a method to control machining nonlinearity error by restricting the angle between two adjacent cutter locations and estimated the relationship between the maximum nonlinear error and the angle increment of cutter locations, but did not consider the restrictions of the machine's movement ability and the machining characteristics on interpolation tool location angle increment. He et al, 9 Lin et al, 10 Liu et al, 11 Wang et al, 12 Ye and Wang, 13 and Li et al 14 proposed a speed pretreatment method according to the machine kinematics constraints which calculated the maximum feed rate to meet the mechanical and path characteristics of the machine, but it only considered the consistent feed rate between drive axis and tool tip in three-axis CNC machining and therefore could not be directly applied to the five-axis CNC system. Lavernhe et al 15 dealt with a predictive model of kinematical performance in five-axis milling within the context of high-speed machining and proposed that the calculation of the tool feed rate could be performed and the feed rate has no highlighting zones.…”

Section: Introductionmentioning

confidence: 99%

Multi-axis synchronous interpolation feed rate adaptive planning with rotational tool center point function under comprehensive constraints

Shi

Liang

2017

Advances in Mechanical Engineering

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Real-time nonlinear error caused by rotation axis motion in five-axis interpolation can be compensated by rotational tool center point function. It is well known that reduction of the interpolation nonlinear error can be achieved effectively by increasing the interpolation steps, but what the value of the steps' number should be has rarely been mentioned in the existing literature. Taking a five-axis interpolation machine tool with B & C swing axis as an example, the real-time planning and controlling for the integrated feed rate of a five-axis interpolation is proposed by analyzing mechanism of the nonlinear error in the interpolation with rotational tool center point function. The nonlinear error and its derivative of the swing axis are derived. Then, a S-shape feed rate real-time planning and control method about curve interpolation is present first, and then considering the restrictions of the tool axis motion by the feed axis' mechanical properties and the cutting characteristics, the most appropriate interpolation step length in a single interpolation cycle is calculated in real-time. It shows that comparing to approach with no rotational tool center point interpolation error control, the interpolation error acquired by rotational tool center point in proposed approach can be further reduced while ensuring the smooth and safe machining of the machine tool, and the surface quality of workpiece is also greatly improved.

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Realization of a 5-axis NURBS Interpolation with Controlled Angular Velocity

Cited by 17 publications

References 12 publications

Research on Trajectory Planning of 6-DOF Cutting-robot in Machining Complex Surface

Research on Trajectory Planning of 6-DOF Cutting-robot in Machining Complex Surface

Triple parametric tool path interpolation for five-axis machining with three-dimensional cutter compensation

Multi-axis synchronous interpolation feed rate adaptive planning with rotational tool center point function under comprehensive constraints

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