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Smooth toolpath interpolation for a 5-axis hybrid machine tool

Published online by Cambridge University Press:  27 July 2022

Zhen He Open the ORCID record for Zhen He [Opens in a new window] ,
Hanliang Fang Open the ORCID record for Hanliang Fang [Opens in a new window] ,
Yufei Bao Open the ORCID record for Yufei Bao [Opens in a new window] ,
Fufu Yang Open the ORCID record for Fufu Yang [Opens in a new window]  and
Jun Zhang Open the ORCID record for Jun Zhang [Opens in a new window]
Zhen He
Affiliation:
School of Mechanical Engineering and Automation, Fuzhou University, Fujian 350116, China
Hanliang Fang
Affiliation:
School of Mechanical Engineering and Automation, Fuzhou University, Fujian 350116, China
Yufei Bao
Affiliation:
School of Mechanical Engineering and Automation, Fuzhou University, Fujian 350116, China
Fufu Yang
Affiliation:
School of Mechanical Engineering and Automation, Fuzhou University, Fujian 350116, China
Jun Zhang*
Affiliation:
School of Mechanical Engineering and Automation, Fuzhou University, Fujian 350116, China The State Key Laboratory of Mechanical Transmissions, Chongqing University, Chongqing 400044, China
*
*Corresponding author. E-mail: [email protected]
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Abstract

Due to the merits of high rigidity and good dynamics, hybrid machine tools have been gradually applied to efficient machining of thin-walled workpiece with complex geometries. However, the discontinuity of tangential component of toolpath in hybrid machine tools may cause velocity fluctuations, leading to poor surface quality of workpiece. In this paper, a novel 5-axis hybrid machine tool is taken as an example to demonstrate a smooth toolpath interpolation method. First, an adaptive acceleration and deceleration control algorithm is presented to realize the smooth transition between two constrained velocity points. Second, a spline curve-based interpolation algorithm is proposed to realize the smoothness of the trajectory. Meanwhile, a parameter synchronization method is proposed to ensure the synchronization of the interpolated tool-axis vector and the interpolated tool tip. Thirdly, an inverse kinematic analysis is conducted based on an inverse position solution model and a velocity mapping model. Finally, a set of machining tests on S-shape workpiece in line with the ISO standard is carried out to verify the effectiveness of the proposed smooth toolpath interpolation method.

Keywords

hybrid machine toolinverse kinematicstrajectory controlvelocity controlsmooth toolpath
Type
Research Article
Information
Robotica , Volume 40 , Issue 12 , December 2022 , pp. 4431 - 4454
Copyright
© The Author(s), 2022. Published by Cambridge University Press

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