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A Curvature-Continuous Transition Method with Axis High-Order Kinematic Limitations along Linear Segments

机译:沿线性段具有轴高阶运动学极限的曲率连续过渡方法

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Linear toolpath is the most typical codes in practical Computer Numerical Control (CNC) systems and the kinematic parameters in terms of axis acceleration and jerk are difficult to limited in high-speed and high-precision machining. Various path-smoothing approaches are proposed to cope with that drawback, while the axis jerk is still not limited in most researches. In order to improve the machining quality further, corner feedrate limitations with axis jerk are deduced in theory. Similarly to the curvature extreme, the curvature derivative extreme should also become the critical points and it would determine the distribution of axis jerk. With the typical cubic Bspline transition method, the transition model is optimized to obtain smaller curvature derivative extreme, which leads to larger corner feedrate as well as higher machining efficiency. Thereby, a new motion planning algorithm is presented with jerk limited acceleration profile to adapt the changes of critical points. Finally, simulation and experiment comparisons of three already existing approaches are presented to show obvious improvements in both cycle time and contouring performance.
机译:线性刀具路径是实用的计算机数控(CNC)系统中最典型的代码,在高速和高精度加工中,就轴加速度和加速度率而言的运动学参数很难加以限制。提出了各种平滑路径的方法来解决该缺点,而在大多数研究中,轴加速度仍然不受限制。为了进一步提高加工质量,理论上推导了带有轴跳动的角进给速度限制。类似于曲率极限,曲率导数极限也应成为临界点,它将决定轴加速度的分布。使用典型的三次Bspline过渡方法,优化过渡模型以获得较小的曲率导数极值,从而导致更大的角进给率以及更高的加工效率。因此,提出了一种新的运动计划算法,具有有限的加速度加速度曲线,以适应临界点的变化。最后,对三种现有方法进行了仿真和实验比较,以显示出循环时间和轮廓加工性能的明显改善。

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