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研究生:吳玉蟬
研究生(外文):WU, YU-CHAN
論文名稱:具轉角平滑化功能之五軸刀尖點插補器設計
論文名稱(外文):Study on Corner Smoothing for Interpolation Technology for Five-Axis Tool Center Point Trajectory
指導教授:蔡孟勳蔡孟勳引用關係
指導教授(外文):TSAI, MENG-SHIUN
口試委員:劉建聖郭倫毓
口試委員(外文):LIU, CHIEN-SHENGKUO, LUN-YU
口試日期:2017-06-28
學位類別:碩士
校院名稱:國立中正大學
系所名稱:機械工程系研究所
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:2017
畢業學年度:105
語文別:中文
論文頁數:39
中文關鍵詞:刀具中心點預讀五軸加工轉角平滑化
外文關鍵詞:TCPlook-aheadfive-axis machiningcorner smooth
相關次數:
  • 被引用被引用:3
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  • 收藏至我的研究室書目清單書目收藏:1
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.
摘要 i
Abstract ii
誌謝 iii
目錄 iv
表目錄 v
圖目錄 vi
符號說明 viii
第一章 緒論 1
1.1 研究動機與目的 1
1.2 文獻探討 1
1.2.1 五軸插補 1
1.3 轉角平滑化 2
1.4 研究方法 2
1.5 論文架構 3
第二章 五軸工具機之座標轉換 4
2.1 五軸工具機機械座標定義 4
2.2 順逆向運動學 5
第三章 具轉角平滑化功能之五軸刀尖點插補器 7
3.1 刀具中心點插補器架構 7
3.2 插補資訊解析 8
3.2.1 刀具中心點與旋轉軸的各項限制 8
3.2.2 主動軸與從動軸 11
3.2.3 轉角速度限制 12
3.2.4 預讀 19
3.3 插補程序 21
3.3.1 S型與鐘型加減速規劃 21
3.3.2 加減速類別判定與規劃 23
3.3.3 鐘型插補公式 23
第四章 轉角平滑化功能插補器實驗 25
4.1 單一線段插補實驗 25
4.2 多線段插補實驗 31
第五章 結論與未來方向 37
參考文獻 38
[1]N. Shibata and T. Otsuki, 2004, Numerical Controller, United States Publication Patent No. 6775586 B2.
[2]FANUC Corporation, 2004, AI Nano CNC for high-speed high-accuracy machining, FANUC Series 31i/32i/30i/35i-MODEL B, FANUC Series 31i-MODEL B5 - Datasheet.
[3]Siemens Corporation, 2013, Milling with SINUMERIK: Mold Making with 3- to 5-Axis Simultaneous Milling, Manual.
[4]Siemens Corporation, 2008, SIMODRIVE 611 digital/SINUMERIK 840D/810D Drive Functions-Function Manual.
[5]Heidenhain Corporation, 2012, iTNC530 HSCI NC Software 606 420-02, 606 421-02-Technique Manual.
[6]Y. Altintas, B. Sencer, E. Croft, 2008, “Feed optimization for five-axis CNC machine tools with drive constraints.”, International Journal of Machine Tools & Manufacture 48 pp. 733-745.
[7]邱婉婷,五軸刀具中心點插補及刀軸向量控制之研究,國立虎尾科技大學機械設計工程研究所碩士論文,2014。
[8]X. Beudaert, S. Lavernhe and C. Tournier, 2011, “5-Axis tool path smoothing based on drive constraints,” International Journal of Machine Tools and Manufacture, vol. 51, no. 12, pp. 958-965.
[9]X. Beudaert, S. Lavernhe and C. Tournier, 2012, “Feedrate interpolation with axis jerk constraints on 5-axis NURBS and G1 tool path,” International Journal of Machine Tools and Manufacture, vol. 57, pp. 73-82.
[10]李孟哲,五軸刀具中心點路徑即時預讀與插補技術之研究,國立虎尾科技大學機械設計工程研究所碩士論文,2016。
[11]B. Sencer, 2015, Kosuke Ishizaki, Eiji Shamoto, 2015, “High speed cornering strategy with confined contour error and vibration suppression for CNC machine tools.”, CIRP Annals - Manufacturing Technology, vol. 64, Issue 1, pp.369-372.
[12]M.-S. Tsai, Y.-C. Huang, 2016, “A novel integrated dynamic acceleration & deceleration interpolation algorithm for a CNC controller.”, The International Journal of Advanced Manufacturing Technology, vol. 87, Issue 1-4, pp 279-292.
[13]B. Sencer, S. Tajima, 2016, “Kinematic corner smoothing for high speed machine tools.”, International Journal of Machine Tools & Manufacture, vol.108, pp.27-43.
[14]B. Sencer, S. Tajima, 2017, “Global tool-path smoothing for CNC machine tools with uninterrupted acceleration.”, International Journal of Machine Tools and Manufacture.
[15]M.-T. Lin and S.-K. Wu, 2013, “ Modeling and improvement of dynamic contour errors for five-axis machine tools under synchronous measuring paths,” International Journal of Machine Tools and Manufacture, vol.72, pp.58-72.
[16]S. Sakamoto, I. Inasaki, 1993, “Analysis of generating motion for five-axis machining centers,” Transactions of the Japan Society of Mechanical Engineers, 59, pp. 1553-1559.
[17]ISO/DIS 10791-6:2012, Test Conditions for Machining Centers - Part 6: Accuracy of Speeds and Interpolations.
[18]Y.Chen, 2013, “Look-ahead algorithm with whole S-curveacceleration and deceleration.”, Advances in Mechanical Engineering, vol 2013.

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