跳度限制的拐角运动学平滑算法-计算机辅助设计与图形学学报.PDF

30 8 Vol.30 No8 2018 8 Journal of Computer-Aided Design Computer Graphics Aug. 2018 跳度限制的拐角运动学平滑算法 * 杜金锋, 张立强, 高 甜 (上海工程技术大学机械工程学院 上海 201620) (zhanglq2009@126.com) 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 1 连续, 加速度曲线可达到G 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. 关键词: 计算机数控; 高速加工; 拐角平滑; 拐角运动学 中图法分类号: TP391.41 DOI: 10.3724/SP.J.1089.2018.16810 Kinematic Corner Smoothing Algorithm Based on Jounce Limited * Du Jinfeng, Zhang Liqiang , and Gao Tian (College of Mechanical Engineering, Shanghai University of Engineering Science, Shanghai 201620) Abstract: In the process of high-speed machining of NC system, unnecessary inertial vibration is generated due to the non-smooth speed or acceleration curve. A new kinematic smoothing algorithm is presented for high speed and high precision machining. The algorithm is based on the jounce limited acceleration profile and accurately calculates the optimal transition velocity and duration of the feed motion at the corner. A 3 smooth contour trajectory can precisely control through the contour error. The tool path can reach G con- tinuous, and the acceleration curve can reach G1 continuous, achieving uninterrupted