带倾斜回转工作台的四坐标后置处理方法

针对带倾斜回转工作台的四坐标数控加工的后置处理,提出了一种非正交多轴联动数控机床的逆运动学求解方法。基于矢量绕任意轴线的旋转变换,建立了非正交情况下四坐标机床各运动坐标同刀位数据之间的映射关系,从而实现了机床平动坐标和转动坐标的计算。该方法同样适用于非正交情况下五坐标机床的逆运动学求解。利用刀具同加工表面相切的控制方式,给出了实际加工中进刀及退刀过程的构造方法。本文方法稳定可靠,并已成功应用于工程实际中。

Post-processing Method for a 4-Axis Machine with Inclined Rotary Working Table

For a 4-axis milling machine with inclined rotary working table,we present a new post-processing method which is applicable to the inverse kinematics solution of the non-orthogonal multi-axis numerical control machine.Based on the transformation relation of vectors rotating around an arbitrary axis,we first build the mapping relationship between the machine coordinates and the cutter location data under the non-orthogonal condition,so that the machine coordinates can be achieved directly from the cutter location data.The method is also applicable for the non-orthogonal 5-axis machine.We also studied the construction method of cutter engaging and retracting by keeping tangent between the cutter and the machining surface.Our method is stable and reliable,and has been put into practical application.