基于平面表像法和多关节联动的刀具刃磨位姿调整

摘要

When cutting tools was grinded in the tool grinding machine,adj ustment of the pose of the surface to be ground involved complicated multi-joint linkage of planes in space,and calculation of the adj ustment angle was a problem which was difficult to solve with general method.With the planar displaying method,the image point of the cutter surface for grinding in proj ective plane was estab-lished.This paper presented a method which transformed the rotation of planes in space into the movement of the image points in proj ective plane,and then used the universal clip to realize pose ad-j ustment of the cutter surface for grinding,and the relevant calculation formulas were given.The sharpening experiments show that the proposed method can easily sharpen the single point tool with different combination of cutting angles.%在工具磨床上刃磨刀具时，待刃磨面的位姿调整涉及复杂的空间平面联动变换，其角度调整的计算问题用一般方法很难解决。以平面表像法为基础，建立了刀具待刃磨面的平面像图，提出了一种将空间平面的旋转问题转化为射影平面内像点的移动问题，进而利用万向夹多关节联动旋转来实现刀具刃磨面位姿调整的方法，并给出了相应的计算公式。刃磨实验与建模仿真表明，所提方法能够方便地刃磨出具有不同切削角度组合的单点刀具。