Accurate Detection and Smoothness-Oriented Avoidance Method of Singularity in 5-Axis CNC Machining

IF 4.3 3区 材料科学 Q1 ENGINEERING, ELECTRICAL & ELECTRONIC ACS Applied Electronic Materials Pub Date : 2023-11-14 DOI:10.1016/j.cad.2023.103652
Lei Wu , Jinting Xu , Hebing Xing , Yuwen Sun
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Abstract

As an inherent flaw in the kinematic chain mechanism of 5-axis machine tools, singularity can induce dramatic changes in machine axes motion and unfavorable fluctuations in feedrate. For effective singularity avoidance, it is desirable to first achieve accurate and efficient singularity detection and then eliminate the singularity without impairing tool orientation smoothness. This paper presents a novel approach for accurately detecting and smoothly avoiding the singularity in 5-axis CNC machining. In the detection method, two exclusion criteria are presented to efficiently exclude most non-singular segments of the tool orientation spline, and a curve intersection-based algorithm is thus developed to accurately identify the singular segments. In the singularity avoidance method, a concept of admissible tool orientation annulus (ATOA) is introduced, which serves to confine the range and magnitude of the tool orientation spline’s adjustments, and a local adjustment algorithm is then developed to enable the escape of the tool orientation from the singular region with controllable direction and deviation, while maintaining its continuity and smoothness. The effectiveness of singularity avoidance and the kinematic performance of the tool orientation modified by our method, are comparable to a state-of-the-art singularity avoidance algorithm. Finally, the conducted experiments validate the proposed method.

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五轴数控加工中奇异点的精确检测及面向平滑的避免方法
奇异性作为五轴机床运动链机构的固有缺陷,会引起机床轴线运动的剧烈变化和进给量的不利波动。为了有效地避免奇异,首先要实现准确、高效的奇异检测,然后在不影响刀具取向平滑的情况下消除奇异。提出了一种在五轴数控加工中精确检测和平滑避免奇异点的新方法。在检测方法中,提出了两种排除准则,有效地排除了刀具方向样条的大部分非奇异段,并提出了一种基于曲线相交的奇异段识别算法。在避免奇异点的方法中,引入了允许刀具取向环空(ATOA)的概念,限制了刀具取向样条调整的范围和幅度,并提出了一种局部调整算法,使刀具取向在方向和偏差可控的情况下脱离奇异点区域,同时保持其连续性和平滑性。通过该方法改进的刀具姿态的运动学性能和避免奇异的有效性可与最先进的避免奇异算法相媲美。最后,通过实验验证了该方法的有效性。
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CiteScore
7.20
自引率
4.30%
发文量
567
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