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    Please use this identifier to cite or link to this item: http://ccur.lib.ccu.edu.tw/handle/A095B0000Q/124


    Title: 高階五軸CNC插補器之開發
    Authors: 張庭華;ZHANG, TING-HUA
    Contributors: 機械工程系研究所
    Keywords: 五軸插補器;預讀;轉角速度;輪廓誤差預測;5-axis interpolator;Look-ahead;Corner-speed;Contour error
    Date: 2018
    Issue Date: 2019-05-23 12:52:37 (UTC+8)
    Publisher: 機械工程系研究所
    Abstract: 本論文開發一高階五軸CNC插補器。首先,對五軸工具機建立模型,使用齊次座標轉換矩陣的方式建立機台刀具中心點與工作座標之間的相對關係,並透過順向與逆向運動學計算機械座標與刀具中心點座標的位置。接著進入插補程序,經過插補程序會得到以下的資訊(1)各軸的速度、加速度與急衝度的限制。(2)主動軸與從動軸的決定。(3)在多線段相接下的轉角速度。(4)使用即時預讀的方式判斷所計算出的轉角速度是否合理。(5)預測在計算出的轉角速度與設定的後插補時間下所產生的輪廓誤差。(6)選擇平滑化加減速的類型進行規劃。最後,會將本論文開發的五軸CNC插補器與商用控制器(西門子840D-sl)的插補點在相同路徑與參數下做比對。
    In this paper, a five axis CNC interpolator is developed. First, the kinematics of five axis machine tool using homogeneous transformation matrix is derived to know the relative relationship between TCP and workpiece. Through the computation of the forward/inverse kinematics, the mechanical coordinate and TCP position can be established. Then from the interpolation procedure, one can obtain the following information (1) TCP and rotary axes velocity, acceleration and jerk limit. (2) Determination of master and slave. (3) Five axis corner speed. (4) Using look-ahead to decide a reasonable corner speed. (5) Prediction of contour error for different corner speed after interpolator. (6) Determination of smooth acc/dec type. Finally, the simulation result validates the proposed algorithm which are almost identical to Siemens interpolation results.
    Appears in Collections:[機械工程學系] 學位論文

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