基于对偶四元数的五轴等距双NURBS刀具路径规划  

Double NURBS five-axis tool path planning with equal distance based on dual quaternion

作　　者：张立强[1] 张守军[1] 王宇晗[2] 

机构地区：[1]上海工程技术大学机械工程学院,上海201620 [2]上海交通大学机械与动力工程学院,上海200240

出　　处：《计算机集成制造系统》2014年第1期128-133,共6页Computer Integrated Manufacturing Systems

基　　金：国家自然科学基金资助项目(51305254);上海市教委科研创新资助项目(13YZ108)~~

摘　　要：针对由离散刀位构成的一阶线性不连续刀路影响机床运动平稳性的问题,提出在工件坐标系下对线性刀路进行光顺,获取满足精度且达到G1以上连续的等距双非均匀有理B样条刀具路径。采用对偶四元数描述五轴刀位,利用对偶四元数B样条矢量函数拟合线性刀路,获取五轴联动的刀具B样条运动轨迹,插值得到描述刀具中心点和刀轴点运动轨迹的等距双非均匀有理B样条曲线刀具路径。算例表明,采用本算法对工件坐标系中的线性刀路进行光顺,在提高刀具轨迹运动平稳性的同时,可以获得满意的加工精度,适用于五轴高速精密加工。Aiming at the problem that the motion stability of machine tool was affected by first-order linear discontin uous path of discrete tool, the fairing method was used for linear tool path under Work Coordinate System（WCS） to obtain the dual-NURBS tool path with equal distance which satisfied the given fitting accuracy and G1 continuation. The dual-quaternion was used to describe five-axis tool position, and the linear tool path in WCS was fitted with du- al-quaternion Pvspline vector function to obtain the tool path B-spline trajectory of five-axis linkage. The dual- NURBS tool path with equal distance for describing the locus of tool tip point and tool axis point was obtained by in terpolation. The proposed method was used to fair the linear tool, path in WCS, and the result showed that it could not only improve the motion stability of tool, but also could obtain the satisfying process accuracy.

关 键 词：五轴加工 对偶四元数 等距双样条 刀具路径 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]