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    Please use this identifier to cite or link to this item: http://ccur.lib.ccu.edu.tw/handle/A095B0000Q/225


    Title: 具轉角平滑化功能之五軸刀尖點插補器設計;Study on Corner Smoothing for Interpolation Technology for Five-Axis Tool Center Point Trajectory
    Authors: 吳玉蟬;WU, YU-CHAN
    Contributors: 機械工程系研究所
    Keywords: 刀具中心點;預讀;五軸加工;轉角平滑化;TCP;look-ahead;five-axis machining;corner smooth
    Date: 2017
    Issue Date: 2019-07-17
    Publisher: 機械工程系研究所
    Abstract: 本論文提出一具有轉角平滑化功能的五軸刀具中心點插補演算法,透過設定各軸速度、各軸加速度、各軸急衝度以及轉角容許值,產生平滑的進給率曲線,藉以預測加工時間與轉角精度。首先,使用齊次轉換矩陣建立五軸工具機的機械座標與刀具座標之間的相對關係,並透過順逆向運動學進行五軸機械座標與刀具座標的轉換。接著計算插補程序所需資訊,包含是否開啟刀具跟隨功能時的最大速度限制,主動軸與從動軸的判別以及透過設計後插補器解決多線段相接時向量改變導致轉角速度不連續,造成各軸加減速過大的問題,並透過雙向預讀演算法決定各線段的初速度與末速度,避免線段過小時來不及加減速至末速的情況。接著進入插補程序,透過推導的13種加減速規劃方法,並利用上述資訊規劃進給率加減速曲線,接著將此加減速曲線進行後插補,得到平滑且連續的路徑。最後,在海德漢iTNC530控制器上進行實驗,利用相同的參數設定與海德漢控制器所輸出的五軸插補點進行比較。
    In this paper, an corner smoothing for interpolation technology for five-axis tool center point trajectory is proposed to generate smooth feed-rate profile and tool center point (TCP) trajectory. The developed method according to set each axes maximum speed, acceleration, jerk, and five-axis kinematic limitation to determine TCP and rotary axes maximum feed-rate of multi-axis synchronized motions. The generalized forward/inverse kinematics equations of five-axis machine tools are derived based on homogeneous transformation. The proposed algorithms of the TCP feed-rate profile is evaluated by interpolation information process included three steps: (1) Determined maximum feed-rate in the block by TCP and rotary axes velocity formulation. (2) Chosen Master axis by ratio between movements and velocity of TCP and rotary axes. (3) Determine corner speed of TCP and rotary axes. (4) Used forward and backward look ahead algorithm to obtain initial speed and end speed of each block. (5) According to the maximum achievable acceleration to select acceleration/deceleration (ACC/DEC) method. (6) Used the after interpolator to generate smooth feed-rate profile. In the end of this paper, the simulation result validate the proposed algorithm almost identical to Heidenhan interpolation results.
    Appears in Collections:[機械工程學系] 學位論文

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