非周期自由曲面数控加工的计算方法研究与应用

通过对非周期自由曲面与刀具接触规律的研究,文章提出了将最小有向距离算法应用于非周期自由曲面数控加工中。该种计算刀触点的方法以最小有向距离原理为基础,结合九点寻优算法,不仅从理论上消除了编程误差,而且不受初始点选取的限制,没有迭代收敛性问题,还可推广到其他数控加工中。     

基于Delaunay三角优化的复杂曲面加工余量精确求解

针对复杂曲面离散点云加工余量求解问题,研究了基于全局三维Delaunay三角优化处理的加工余量精确求解方法.将余量求解问题分解为法向量求解和曲面构建两个关键步骤,采用点云与重心之间的距离对主成分分析法进行加权处理,减小了因点云数据贡献度不同导致的法向量求解偏差;针对余量求解过程中因离散曲面重构精度不足导致余量求解不准确...     

采用传感器测量联合最小二乘法的机器人路径跟踪控制方法的研究

为提高机器人跟踪期望路径的准确性,以改善机器人的工作质量,结合传感器测量和最小二乘法设计一种机器人路径控制方法。通过3个激光距离传感器构造机器人测量系统,利用距离传感器得出平面上3个点的测量距离,从而计算出末端执行器和曲面之间的距离。采用曲面的法向量描述曲面上任意点处的曲面。通过刀具中心点位置和旋转矩阵,求取曲面上每个测量点的位置,进而计算出刀具中心点到曲面上任意点的距离与交点位置。使用二次系数矩阵求取近似曲面的z分量,采用距离传感器测量所得的当前和先前测量点,进行最小二乘近似来确定未知平面和抛物面参数,进而根据期望路径求取路径方向和刀具方向,从而实现对期望路径的跟踪。结果表明：与模糊PI控制方法相比,利用所提方法跟踪平面和立体期望路径时准确度较高,验证了所提方法能控制机器人对期望路径进行准确跟踪,为改善机器人的工作质量提供参考。     

加工大型工件时精确定位方法的研究

针对大型工件加工时由于难找正引起的定位误差，采用最小二乘法，在三维空间中将实测数据点与CAD模糊理论数据点进行拟合，使其满足每个测量点到标准曲面的距离的平方和达到最小，从而计算出曲面在空间的真实位置，利用该方法可以有效的消除大型工件在加工时的定位误差，该方法已经在某磁悬浮列车轨道梁实际加工中得到应用，并取得了很好的效果。     

自由曲面CMM测量中球头半径空间补偿方法的研究

为解决自由曲面CMM测量中测头半径补偿问题，沿用了基于测头中心点所在曲面法矢估算的空间补偿方法，引入转动惯量法进行测头中心点所在曲面各点处法矢的求解，并解决了边界点补偿的问题。该方法避免了根据离散点构建样条曲面而进行大量而复杂的计算过程，数据处理简单，并可通过程序实现，具有较高的效率。     

实现曲面刻字的调和方法

曲面刻字的首要问题在于如何选择刀位点，使得文字笔划角度在曲面上与平面时相同。本文的解决方法是将文字图像调和映射到曲面上确定刀位点，由调和映射的保角性质保证角度不变。描述了平面到曲面调和映射的求解过程，并以球面印字为例，进行了数值试验。     

五坐标加工步长计算

五坐标曲面加工的理论刀具轨迹是由刀具与零件曲面的啮合关系所确定的非线性连续曲线，由此而得的机床各运动轴的理想联动规律是复杂的非线性关系，但由于目前的CNC在多轴联动控制时，一般只具有线性插补功能，理论的非线性连续曲线只能以一系列小线性段进行离散逼近后，再由CNC机床控制各运动轴作五维线性插补来实现被加工曲面的近似包络成型，由此而导致原理性的加工误差，在数控加工中，刀具在机床坐标系下的运动根据与被加工曲面的相对关系有二个方向，一是走刀轨 迹的方向，称为走刀方向，其在此方向上在一个插补周期内所移动的距离称为走刀步长。另一个是在走刀轨迹增量的方向，称为切削带步长，下面讨论这两个方向刀具的所能够移动的距离与误差的关系和进行计算。     

自由曲面CMM测量中球头半径空补偿方法的研究

为解决自由曲面CMM测量中测头半径补偿问题,沿用了基于测头中心点所在曲面法矢估算的空间补偿方法,引入转动惯量法进行测头中心点所在曲面各点处法矢的求解,并解决了边界点补偿的问题.该方法避免了根据离散点构建样条曲面而进行大量而复杂的计算过程,数据处理简单,并可通过程序实现,具有较高的效率.     

基于误差分析的复杂曲面可侧铣判定方法研究

基于复杂曲面侧铣加工误差计算,提出了一种曲面能否通过侧铣实现高精度加工的判定方法,该方法适用于任意直纹和非直纹曲面。侧铣加工误差为待加工理论曲面与刀具运动包络曲面之间的距离,在此基础上,应用整体最优刀具路径下的最大几何偏差进行曲面可侧铣判定依据。数值仿真算例表明:该方法不仅能够有效地判定曲面能否侧铣,同时能够输出满足误差要求的最优刀具路径,加工实验也表明该方法能够极大地提高加工效率。     

基于改进粒子群算法的自由曲面轮廓度评定

为提高复杂曲面轮廓度评定精度,建立了曲面轮廓度数学模型。针对标准粒子群算法在求解过程中存在早熟收敛和局部寻优能力较差的问题,采用了一种引入天牛须搜索思想的改进粒子群算法来评定复杂曲面轮廓度误差。通过理论分析和仿真验证,证实了在寻找最佳变换矩阵过程中,多数情况下基于天牛须算法改进的粒子群算法相较于传统的评定方法具有更好的全局搜索性能,评定结果更加准确。同时在点到曲面STL模型距离的计算中,针对出现狭长三角面片的情况做了优化处理,并简化了投影点与三角面片关系判定条件,提升了算法的实用性和适应性。     

Improved positioning for side milling of ruled surfaces: Analysis of the rotation axis's influence on machining error

This article covers side milling of ruled surfaces using a milling cutter. Flank milling is useful for machining objects such as impellers, turbine blades, fan vanes and all workpieces defined by non-developable, ruled surfaces. In the present article, the influence of parameters defining improved positioning described in a previous study will be appraised. The general idea with improved positioning is to position the milling cutter at a tangent to the 2 directrices of the ruled surface while keeping a point of contact between the milling cutter and the rule considered. This is obtained by a rotation at a point about an imposed axis. Having defined calculation of error between the milled surface and the nominal surface, the influence of the point and the axis of rotation of improved positioning on error will be studied. From this, optimum improved positioning parameters allowing minimisation of error between the ruled surface and the milling cutter will be deduced.     

模具自由曲面球头刀高速铣削点速度研究

球头铣刀高速铣削是加工模具自由曲面的重要工艺方法。在分析自由曲面铣削中球头刀铣削点和零件加工曲线几何位置关系的基础上,探讨球头刀铣削点的运动规律,得到加工模具自由曲面过程中球头刀铣削点的线速度和角速度方程。铣削点的速度方程将为研究球头刀的均匀磨损提供必要的理论依据,为曲面零件的超精密加工打下提供参考。     

自由曲面平头立铣刀五轴数控加工轨迹的计算方法

提出了一种在参数坐标系下自适应步长和行距的计算方法 ,该算法考虑了不同刀具接触点处的曲率差异 ,在满足加工精度和粗糙度的前提下 ,又能有效地提高加工效率。该算法适合加工汽车车身模具等曲率变化大的曲面。文中还给出了刀位计算公式。     

自由曲面加工仿真的干涉检测研究

利用UG生成的加工路径上的一系列刀位点,计算两相邻刀位点的中点与曲面之间的距离,根据加工精度的要求,对曲面加工进行干涉检测。这不但满足了加工精度的需要,而且使得干涉检测方法更加简单,有效。最后利用VC 和OpenGL对提出的干涉检测方法编程实现,进行了仿真实验,证实了干涉检测方法的合理性和可行性。     

Tool interference detection and avoidance based on offset nets

A novel, fast algorithm is presented for the identification and removal of inaccessible (i.e. interfering, and hence invalid) tool positions in three-axis surface machining using spherical ended ball nose cutters. For each cutter contact (cc-) point on the surface a corresponding cutter location (cl-) point is computed. Both sets of points form two meshes of points; one on the surface and the other as an offset net, respectively. Invalid tool positions introduce folds in the offset net, which can be removed efficiently involving only simple comparisons. The time complexity of this algorithm, which is independent of tool diameter, is 0(m·n), where m and n are the number of rows and columns of the polyhedral mesh array. This method is applicable to a variety of cutter geometries as well.     

Optimized tool path generation based on dynamic programming for five-axis flank milling of rule surface

This paper presents a computation scheme that generates optimized tool path for five-axis flank milling of ruled surface. Tool path planning is transformed into a matching problem between two point sets in 3D space, sampled from the boundary curves of the machined surface. Each connection in the matching corresponds to a possible tool position. Dynamic programming techniques are applied to obtain the optimal combination of tool positions with the objective function as machining error. The error estimation considers both the deviation induced by the cutter at discrete positions and the one between them. The path planning problem is thus solved in a systematic manner by formulizing it as a mathematical programming task. In addition, the scheme incorporates several optimization parameters that allow generating new patterns of tool motion. Implementation results obtained from simulation and experiment indicate that our method produces better machining quality. This work provides a concise but effective approach for machining error control in five-axis flank milling.     

An algorithm for surface design and tool path generation in wire-cut electrical discharge machining

This paper proposes a CAD/CAM mathematical foundation to design ruled surfaces for wire-cut electrical discharge machining (EDM). This method combines the boundary planes concept, the coordinate representation of lines, control lines and design function to generate free form ruled surfaces. The tool motion and offset surface can also be generated simply by the same approach for computer numerical control (CNC) wire-cut EDM. The algorithm, being different from conventional methods, can present a surface or tool path concisely and uniquely. A numerical example is given to illustrate the proposed approach.     

5-Axis adaptive flank milling of flexible thin-walled parts based on the on-machine measurement

Deformation of the part and cutter caused by cutting forces immediately affects the dimensional accuracy of manufactured parts. This paper presents an integrated machining deviation compensation strategy based on on-machine measurement (OMM) inspection system. Previous research attempts on this topic deal with deformation compensation in machining of geometries in 3-axis machine tools only. This paper is the first time that concerned with 5-axis flank milling of flexible thin-walled parts. To capture the machined surface precision dimensions, OMM with a touch-trigger probe installed on machine׳s spindle is utilized. Probe path is planned to obtain the coordinate of the sampling points on machined surface. The machined surface can then be reconstructed. Meanwhile, the cutter׳s envelope surface is calculated based on nominal cutter location source file (CLSF). Subsequently, the machining error caused by part and cutter deflection is calibrated by comparing the deviation between the machined surface and the envelope surface. An iteration toolpath compensation algorithm is designed to decrease machining errors and avoid unwanted interference by modifying the toolpath. Experiment of machining the impeller blade is carried out to validate the methodology developed in this paper. The results demonstrate the effectiveness of the proposed method in machining error compensation.     

Quadric method for cutter orientation in five-axis sculptured surface machining

Existing orientation strategies in 5-axis sculptured surface machining mostly limit the cutter to incline in one direction and lack an effective approach to assess the orientation. This paper presents the quadric method (QM) that exploits fully the two orientation angles to maximise the machining efficiency at a cutter contact point. The geometric construction assumes that the local shape of a sculptured surface can be suitably approximated by two quadrics. An upper quadric lying above the surface is used to orient the cutter, and a lower quadric lying below the surface is used to evaluate machined strip width. Then, the cutter orientation is optimised with respect to the width and is guaranteed to give no gouging. Both flat-end cutter and fillet-end cutter are considered. Simulated examples demonstrate the improved machining efficiency of the QM over current published methods.     

基于CATIA平底铣刀五轴数控编程技术研究

在五轴联动数控加工中,通常采用球头铣刀进行曲面的加工,但是对于双曲面加工,球头铣刀的加工效果较平底铣刀有所不足,因此需要采用平底铣刀来替代球头刀具进行双曲面的加工。但是采用平底铣刀加工双曲面时,由于曲面各处曲率的变化导致刀路轨迹的规划复杂而且困难,而大大影响其在加工曲面中的应用。对此,研究利用平底铣刀的五轴数控联动机床加工双曲面时的刀路轨迹,通过计算得到刀路轨迹的刀位点,设计出利用平底铣刀的五轴数控联动机床加工曲面的刀位轨迹规划方法。结果表明:该方法改善了五轴数控加工中球头铣刀的不足之处,提高了曲面加工的加工质量、加工精度和加工效率。