九轴数控微加工中心的轨迹生成及控制策略研究

摘要

针对传统机床配置方式导致多轴微加工中心存在扰动刚度等问题,文章提出一种由三轴微铣和六轴旋转工作台组成的九轴数控微加工中心,工作台可以实现自由旋转、滚动和偏摆,以及三个短行程直线运动,并研究其刀具轨迹生成与控制策略,在轨迹生成策略中进行了正向运动学和逆运动学建模,并分别对微铣平移轴和旋转工作台的转动轴进行控制策略研究,最后通过仿真与实验验证了文中提出方法的有效性,所生成的参考命令在进给极限范围内,并能够保证足够的精度.%In view of the traditional machine tool configuration caused by multi-axis micro-machining cen-ter,such as the existence of disturbance stiffness and other issues. In this paper,a nine-axis CNC microma-chining center composed of three-axis micro-milling and six-axis rotary table is proposed, The table can be free to rotate,roll and yaw,and three short-stroke linear motion,the tool path generation and control strate-gy is studied. In the trajectory generation strategy, forward kinematics and inverse The simulation results show that the method proposed in this paper can be used to study the rotation axis of the micro-milling trans-lation axis and the rotating table. Finally,the effectiveness of the proposed method is verified by simulation and experiment. the generated reference command within the drive limits,and can guarantee sufficient accu-racy.