基于冗余联动的六轴联动数控机床加工轨迹误差优化
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摘要
针对数控机床实际加工轨迹与理论轨迹存在误差的现象,提出利用六轴联动数控机床冗余联动特点优化该误差的方法。建立了一类六轴联动数控机床的运动学模型,并研究了其冗余联动特点。根据刀具接触点运动规律,以冗余旋转联动轴的运动优化刀具中心点运动轨迹误差和刀具轴线转动轨迹误差,从而实现加工轨迹误差的优化。在实际六轴联动数控机床上进行了抛光加工实验,通过应用所提出的轨迹误差优化算法,减小了抛光过程中的加工轨迹误差,降低了工件表面粗糙度,且保证加工后表面具有较高的均匀一致性,提高了抛光表面质量,从而验证了所提出方法的有效性。
To minimize the error between actual processing trajectory and theoretical trajectory in computer numerical control( CNC) machine tool,an error optimization method with the redundant feature of six-axis linkage CNC machine tool was proposed. Firstly,the kinematic model of a type six-axis linkage CNC machine tool which had three linkage axes and three rotation linkage axes was established.Then,the feature of redundant linkage of machine tool was researched,and the redundant rotation linkage axis was defined. With the trajectory model of contact point between tool and workpiece,the trajectory errors models of tool center point and axis vector were established. The errors models showed that the values of them depended on the motion of rotation linkage axes. The motion of redundant rotation linkage axis was applied to adjust the motions of all linkage axes. The values of the two errors became the minimum when the sum of the motion of rotation linkage axes became the minimum. And,it made the values of the processing trajectory error became the minimum at the same time. To demonstrate the validity of the optimization method,two polishing experiments were made in a six-axis linkage CNC machine tool. An experiment was made in the five-axis linkage mode that the redundant rotation linkage axis was motionless,and another experiment was made in the six-axis linkage mode. Because the lower machining trajectory error made the lower surface roughness and the higher of its consistency,compared with the five-axis linkage mode,the processing result in six-axis linkage mode was more excellent. The validity of the method was verified by the results of experiments.
To minimize the error between actual processing trajectory and theoretical trajectory in computer numerical control( CNC) machine tool,an error optimization method with the redundant feature of six-axis linkage CNC machine tool was proposed. Firstly,the kinematic model of a type six-axis linkage CNC machine tool which had three linkage axes and three rotation linkage axes was established.Then,the feature of redundant linkage of machine tool was researched,and the redundant rotation linkage axis was defined. With the trajectory model of contact point between tool and workpiece,the trajectory errors models of tool center point and axis vector were established. The errors models showed that the values of them depended on the motion of rotation linkage axes. The motion of redundant rotation linkage axis was applied to adjust the motions of all linkage axes. The values of the two errors became the minimum when the sum of the motion of rotation linkage axes became the minimum. And,it made the values of the processing trajectory error became the minimum at the same time. To demonstrate the validity of the optimization method,two polishing experiments were made in a six-axis linkage CNC machine tool. An experiment was made in the five-axis linkage mode that the redundant rotation linkage axis was motionless,and another experiment was made in the six-axis linkage mode. Because the lower machining trajectory error made the lower surface roughness and the higher of its consistency,compared with the five-axis linkage mode,the processing result in six-axis linkage mode was more excellent. The validity of the method was verified by the results of experiments.
引文
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[19]聂蒙,李建勇,沈海阔.基于容腔调节的钢轨打磨压力控制系统[J].西南交通大学学报,2015,50(5):798-802.NIE Meng,LI Jianyong,SHEN Haikuo. Pressure control system for rail grinding based on chamber adjustment[J]. Journal ofSouthwest Jiaotong University,2015,50(5):798-802.(in Chinese)
[20] WANG R Q,LI J Y,LIU Y M,et al. Modeling material removal rate of heavy belt-grinding in manufacturing of U71Mnmaterial[J]. Key Engineering Materials,2016,693:1082-1089.
[2]陈昊,陈默,奚学程,等.六轴联动电火花加工数控系统及机床[J].电加工与模具,2013(6):107-111.CHEN Hao,CHEN Mo,XI Xuecheng,et al. Six-axis electro-discharge machining CNC system and machine tool[J].Electromachining&Mould,2013(6):107-111.(in Chinese)
[3]陈书涵,严宏志,明兴祖.螺旋锥齿轮六轴五联动数控加工模型[J].农业机械学报,2008,39(10):198-201,139.CHEN Shuhan,YAN Hongzhi,MING Xingzu. Spiral bevel gear's numerical control machining model with six axes five linkages[J]. Transactions of the Chinese Society for Agricultural Machinery,2008,39(10):198-201,139.(in Chinese)
[4]郭辉,赵宁,项云飞,等.六轴数控蜗杆砂轮磨齿机磨削面齿轮的方法[J].机械工程学报,2015,51(11):186-194.GUO Hui,ZHAO Ning,XIANG Yunfei,et al. Face gear grinding method using six-axis CNC worm wheel machine[J].Journal of Mechanical Engineering,2015,51(11):186-194.(in Chinese)
[5]刘永平,吴序堂,李鹤岐.数控锥面砂轮磨齿机磨削变齿厚渐开线齿轮研究[J].农业机械学报,2006,37(6):117-120.LIU Yongping,WU Xutang,LI Heqi. Study on grinding of involute beveloid gears with conical wheel gear grinding machine[J]. Transactions of the Chinese Society for Agricultural Machinery,2006,37(6):117-120.(in Chinese)
[6] DING H,TANG J,ZHONG J. Accurate nonlinear modeling and computing of grinding machine settings modification consideringspatial geometric errors for hypoid gears[J]. Mechanism and Machine Theory,2016,99:155-175.
[7] JIANG J,FANG Z. High-order tooth flank correction for a helical gear on a six-axis CNC hob machine[J]. Mechanism andMachine Theory,2015,91:227-237.
[8] ZHANG S,LIANG Z,WANG X. Grinding process of helical micro-drill using a six-axis CNC grinding machine and itsfundamental drilling performance[J]. The International Journal of Advanced Manufacturing Technology,2016,86(9-12):2823-2835.
[9]徐朋,程锦翔,应明峰,等.冗余铺丝机械手逆运动学的拓扑流形分析[J/OL].农业机械学报,2017,48(6):387-391,406.XU Peng,CHENG Jinxiang,YING Mingfeng,et al. Topological manifolds analysis for inverse kinematics of redundant fiberplacement manipulator[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2017,48(6):387-391,406. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20170651&journal_id=jcsam. DOI:10. 6041/j. issn. 1000-1298. 2017. 06. 051.(in Chinese)
[10]陈修龙,蒋德玉,陈林林,等.冗余并联机构运动学性能分析与优化[J/OL].农业机械学报,2016,47(6):340-347.CHEN Xiulong,JIANG Deyu,CHEN Linlin,et al. Kinematics performance analysis and optimal design of redundant actuationparallel mechanism[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2016,47(6):340-347. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20160645&journal_id=jcsam. DOI:10. 6041/j. issn. 1000-1298. 2016. 06. 045.(in Chinese)
[11]蔡永林,马烨萌.基于冗余自由度的数控加工轨迹运动分解[J].北京交通大学学报,2017,41(4):111-114,122.CAI Yonglin,MA Yemeng. Motion decomposition for NC machining path based on redundant degree of freedom[J]. Journalof Beijing Jiaotong University,2017,41(4):111-114,122.(in Chinese)
[12] YANG J,ALTINTAS Y. A generalized on-line estimation and control of five-axis contouring errors of CNC machine tools[J].International Journal of Machine Tools and Manufacture,2015,88:9-23.
[13] MUDCHAROEN A,MAKHANOV S S. Optimization of rotations for six-axis machining[J]. The International Journal ofAdvanced Manufacturing Technology,2011,53(5-8):435-451.
[14] DING S,HUANG X D,YU C J. Post processing for five-axis machine tools with pose error compensation[J]. AdvancedMaterials Research,2014,1037:283-287.
[15]杨旭静,周元生,陈泽忠,等.五轴数控加工中旋转轴运动引起的非线性误差分析与控制[J].机械工程学报,2012,48(3):140-146.YANG Xujing,ZHOU Yuansheng,CHEN Zezhong,et al. Analysis and control of tool path interpolation error in rotary axesmotions of five-axis CNC milling[J]. Journal of Mechanical Engineering,2012,48(3):140-146.(in Chinese)
[16] ZHANG K,ZHANG L,YAN Y. Single spherical angle linear interpolation for the control of non-linearity errors in five-axisflank milling[J]. The International Journal of Advanced Manufacturing Technology,2016,87(9-12):1-11.
[17] LI H Y,LI X K,TIAN C C,et al. The simulation and experimental study of glossiness formation in belt sanding and polishingprocesses[J]. The International Journal of Advanced Manufacturing Technology,2017,90(1-4):199-209.
[18]吴昌林,丁和艳,陈义.材料去除深度与磨粒的关系建模方法研究[J].中国机械工程,2011,22(3):300-304.WU Changlin,DING Heyan,CHEN Yi. Research on modeling method of relation between abrasive grain and material removaldepth[J]. China Mechanical Engineering,2011,22(3):300-304.(in Chinese)
[19]聂蒙,李建勇,沈海阔.基于容腔调节的钢轨打磨压力控制系统[J].西南交通大学学报,2015,50(5):798-802.NIE Meng,LI Jianyong,SHEN Haikuo. Pressure control system for rail grinding based on chamber adjustment[J]. Journal ofSouthwest Jiaotong University,2015,50(5):798-802.(in Chinese)
[20] WANG R Q,LI J Y,LIU Y M,et al. Modeling material removal rate of heavy belt-grinding in manufacturing of U71Mnmaterial[J]. Key Engineering Materials,2016,693:1082-1089.