跳度限制的拐角运动学平滑算法  

Kinematic Corner Smoothing Algorithm Based on Jounce Limited

作　　者：杜金锋[1] 张立强[1] 高甜[1] Du Jinfeng;Zhang Liqiang;Gao Tian(College of Mechanical Engineering,Shanghai University of Engineering Science,Shanghai 201620)

机构地区：[1]上海工程技术大学机械工程学院,上海201620

出　　处：《计算机辅助设计与图形学学报》2018年第8期1563-1571,共9页Journal of Computer-Aided Design & Computer Graphics

基　　金：国家自然科学基金(51775328)

摘　　要：针对数控系统在高速加工过程中由于速度或加速度曲线不平滑导致惯性振动等问题,提出一种适用于高速、高精加工的新型拐角运动学平滑算法.该算法通过分析拐角附近的进给参数和跳度限制加速度曲线来精确计算进给运动在拐角处的最大转接速度和持续时间,生成可以精确控制拐角轮廓误差的光顺轮廓轨迹;该轮廓轨迹所组成的刀具路径可达到G3连续,加速度曲线可达到G1连续,实现在拐角处不间断进给运动,显著减少惯性振动和进给冲击.在Windows7系统(2 GHz,i5处理器)下,RTX8.0控制的X-Y实验平台中对比Bézier曲线插补算法,该算法在加工414.2 mm长的刀具路径时,拐角转接运动的持续时间减少近30%,在减少加工时间和提高加工质量方面潜力很大.In the process of high-speed machining of NC system, unnecessary inertial vibration is generateddue to the non-smooth speed or acceleration curve. A new kinematic smoothing algorithm is presented forhigh speed and high precision machining. The algorithm is based on the jounce limited acceleration profileand accurately calculates the optimal transition velocity and duration of the feed motion at the corner. Asmooth contour trajectory can precisely control through the contour error. The tool path can reach G3 continuous,and the acceleration curve can reach G1 continuous, achieving uninterrupted feed motion around thecorner, significantly reducing inertial vibration and feed impact. By comparing the Bézier curve interpolationalgorithm in X-Y experimental platform controlled by RTX8.0 in Windows 7 （2 GHz i5processor）, it isproved that the proposed algorithm is in the process of machining the tool path with 414.2 mm, the durationof the corner is reduced by 30%. The algorithm has significant potential in reducing machining time andimproving machining quality.

关 键 词：计算机数控 高速加工 拐角平滑 拐角运动学 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]