九轴数控微加工中心的轨迹生成及控制策略研究
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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 center,such as the existence of disturbance stiffness and other issues.In this paper,a nine-axis CNC micromachining 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 strategy 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 translation 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 accuracy.
In view of the traditional machine tool configuration caused by multi-axis micro-machining center,such as the existence of disturbance stiffness and other issues.In this paper,a nine-axis CNC micromachining 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 strategy 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 translation 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 accuracy.
引文
[1]王伟,陶文坚,李晴朝.五轴数控机床动态精度检验试件特性研究[J].机械工程学报,2017,53(1):101-109.
[2]Zhang J,Zhang L,Zhang K,et al.Double NURBS trajectory generation and synchronous interpolation for five-axis machining based on dual quaternion algorithm[J].The International Journal of Advanced Manufacturing Technology,2016,83(9-12):2015-2025.
[3]唐清春,黎国强,刘谦,等.摆头转台五轴数控机床RTCP算法的研究[J].组合机床与自动化加工技术,2016(5):39-42.
[4]Sun C,Altintas Y.Chatter free tool orientations in 5-axis ball-end milling[J].International Journal of Machine Tools and Manufacture,2016,106:89-97.
[5]Takeuchi Y,Sakaida Y,Sawada K,et al.Development of a5-axis control ultraprecision milling machine for micromachining based on non-friction servomechanisms[J].CIRP Annals-Manufacturing Technology,2000,49(1):295-298.
[6]Lu X.6D direct-drive technology for planar motion stages[J].CIRP Annals-Manufacturing Technology,2012,61(1):359-362.
[7]魏兆成,王敏杰,王学文,等.球头铣刀曲面多轴加工的刀具接触区半解析建模[J].机械工程学报,2017,53(1):198-205.
[8]廉良冲,伍浩,刘国栋,等.高精度U形薄壁铝支座零件多轴数控加工工艺改进[J].机床与液压,2016,44(20):67-69.
[9]Choi Y M,Gweon D G.A high-precision dual-servo stage using Halbach linear active magnetic bearings[J].IEEE/ASME Transactions on Mechatronics,2011,16(5):925-931.
[10]王雷,李明,唐敦兵,等.基于改进遗传算法的机器人动态路径规划[J].南京航空航天大学学报,2016,48(6):841-846.
[11]陈琳,韦志琪,徐杰,等.基于CAD的机器人表面制造工具轨迹规划方法[J].组合机床与自动化加工技术,2017(2):1-4.
[12]李聪聪,郝敬宾,陈鑫,等.基于3+2轴加工平台激光熔覆的路径生成优化[J].制造技术与机床,2016(9):107-111.
[13]刘庆龙,张进生,高伟,等.新型石板材上下料装置的结构设计与轨迹规划[J].组合机床与自动化加工技术,2016(11):46-49.
[14]吴雁,阮胜,郑刚,等.基于侧铣刀位生成复杂曲面在机测量路径研究[J].机械设计与制造,2016(11):187-189.
[2]Zhang J,Zhang L,Zhang K,et al.Double NURBS trajectory generation and synchronous interpolation for five-axis machining based on dual quaternion algorithm[J].The International Journal of Advanced Manufacturing Technology,2016,83(9-12):2015-2025.
[3]唐清春,黎国强,刘谦,等.摆头转台五轴数控机床RTCP算法的研究[J].组合机床与自动化加工技术,2016(5):39-42.
[4]Sun C,Altintas Y.Chatter free tool orientations in 5-axis ball-end milling[J].International Journal of Machine Tools and Manufacture,2016,106:89-97.
[5]Takeuchi Y,Sakaida Y,Sawada K,et al.Development of a5-axis control ultraprecision milling machine for micromachining based on non-friction servomechanisms[J].CIRP Annals-Manufacturing Technology,2000,49(1):295-298.
[6]Lu X.6D direct-drive technology for planar motion stages[J].CIRP Annals-Manufacturing Technology,2012,61(1):359-362.
[7]魏兆成,王敏杰,王学文,等.球头铣刀曲面多轴加工的刀具接触区半解析建模[J].机械工程学报,2017,53(1):198-205.
[8]廉良冲,伍浩,刘国栋,等.高精度U形薄壁铝支座零件多轴数控加工工艺改进[J].机床与液压,2016,44(20):67-69.
[9]Choi Y M,Gweon D G.A high-precision dual-servo stage using Halbach linear active magnetic bearings[J].IEEE/ASME Transactions on Mechatronics,2011,16(5):925-931.
[10]王雷,李明,唐敦兵,等.基于改进遗传算法的机器人动态路径规划[J].南京航空航天大学学报,2016,48(6):841-846.
[11]陈琳,韦志琪,徐杰,等.基于CAD的机器人表面制造工具轨迹规划方法[J].组合机床与自动化加工技术,2017(2):1-4.
[12]李聪聪,郝敬宾,陈鑫,等.基于3+2轴加工平台激光熔覆的路径生成优化[J].制造技术与机床,2016(9):107-111.
[13]刘庆龙,张进生,高伟,等.新型石板材上下料装置的结构设计与轨迹规划[J].组合机床与自动化加工技术,2016(11):46-49.
[14]吴雁,阮胜,郑刚,等.基于侧铣刀位生成复杂曲面在机测量路径研究[J].机械设计与制造,2016(11):187-189.