Linear motion commands of multi-axis computer numerical control (CNC) machine tools need to be smoothed at the transition corners, because the velocity discontinuities at corners can result in fluctuations on machine tool motions and lead to poor surface quality. However, no research has been reported on local corner smoothing algorithm for four-axis CNC machine tools with two rotary axes by considering their special kinematic characteristics. To this end, this paper proposes an analytical continuous local corner smoothing algorithm for four-axis CNC machines with two rotary axes. After coordinates transformation, the tool tip positions and tool orientations are smoothed by locally inserting specially designed three-dimensional (3D) quintic B-splines and one-dimensional (1D) quintic B-splines into the corners between linear motion segments, respectively. The smoothing algorithm guarantees continuity of the tool tip position and continuous synchronization of the tool orientation related to the tool tip position, through analytically evaluating control points of the inserted microsplines. The maximum error tolerances of the tool tip position and tool orientation are mathematically constrained. Experiments on an in-house developed four-axis machine verify the efficacy of the proposed algorithm, where maximal errors caused by the local corner smoothing algorithm are constrained, the synchronization of the tool orientation and the tool tip position are achieved, and the proposed continuous corner smoothing algorithm has lower jerk and jounce but higher tracking and contour accuracy than continuous algorithm.
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An Analytical C3 Continuous Local Corner Smoothing Algorithm for Four-Axis Computer Numerical Control Machine Tools
Qin Hu,
Qin Hu
School of Mechanical Science and Engineering,
State Key Lab of Digital Manufacturing
Equipment and Technology,
Huazhong University of Science and Technology,
Wuhan 430074, Hubei, China
State Key Lab of Digital Manufacturing
Equipment and Technology,
Huazhong University of Science and Technology,
Wuhan 430074, Hubei, China
Search for other works by this author on:
Youping Chen,
Youping Chen
School of Mechanical Science and Engineering,
State Key Lab of Digital Manufacturing
Equipment and Technology,
Huazhong University of Science and Technology,
Wuhan 430074, Hubei, China
State Key Lab of Digital Manufacturing
Equipment and Technology,
Huazhong University of Science and Technology,
Wuhan 430074, Hubei, China
Search for other works by this author on:
Jixiang Yang,
Jixiang Yang
School of Mechanical Science and Engineering,
State Key Lab of Digital Manufacturing
Equipment and Technology,
Huazhong University of Science and Technology,
Wuhan 430074, Hubei, China
e-mail: yangjixiang1002@gmail.com
State Key Lab of Digital Manufacturing
Equipment and Technology,
Huazhong University of Science and Technology,
Wuhan 430074, Hubei, China
e-mail: yangjixiang1002@gmail.com
Search for other works by this author on:
Dailin Zhang
Dailin Zhang
School of Mechanical Science and Engineering,
State Key Lab of Digital Manufacturing
Equipment and Technology,
Huazhong University of Science and Technology,
Wuhan 430074, Hubei, China
State Key Lab of Digital Manufacturing
Equipment and Technology,
Huazhong University of Science and Technology,
Wuhan 430074, Hubei, China
Search for other works by this author on:
Qin Hu
School of Mechanical Science and Engineering,
State Key Lab of Digital Manufacturing
Equipment and Technology,
Huazhong University of Science and Technology,
Wuhan 430074, Hubei, China
State Key Lab of Digital Manufacturing
Equipment and Technology,
Huazhong University of Science and Technology,
Wuhan 430074, Hubei, China
Youping Chen
School of Mechanical Science and Engineering,
State Key Lab of Digital Manufacturing
Equipment and Technology,
Huazhong University of Science and Technology,
Wuhan 430074, Hubei, China
State Key Lab of Digital Manufacturing
Equipment and Technology,
Huazhong University of Science and Technology,
Wuhan 430074, Hubei, China
Jixiang Yang
School of Mechanical Science and Engineering,
State Key Lab of Digital Manufacturing
Equipment and Technology,
Huazhong University of Science and Technology,
Wuhan 430074, Hubei, China
e-mail: yangjixiang1002@gmail.com
State Key Lab of Digital Manufacturing
Equipment and Technology,
Huazhong University of Science and Technology,
Wuhan 430074, Hubei, China
e-mail: yangjixiang1002@gmail.com
Dailin Zhang
School of Mechanical Science and Engineering,
State Key Lab of Digital Manufacturing
Equipment and Technology,
Huazhong University of Science and Technology,
Wuhan 430074, Hubei, China
State Key Lab of Digital Manufacturing
Equipment and Technology,
Huazhong University of Science and Technology,
Wuhan 430074, Hubei, China
1Corresponding author.
Manuscript received September 3, 2017; final manuscript received December 24, 2017; published online March 1, 2018. Editor: Y. Lawrence Yao.
J. Manuf. Sci. Eng. May 2018, 140(5): 051004 (15 pages)
Published Online: March 1, 2018
Article history
Received:
September 3, 2017
Revised:
December 24, 2017
Citation
Hu, Q., Chen, Y., Yang, J., and Zhang, D. (March 1, 2018). "An Analytical C3 Continuous Local Corner Smoothing Algorithm for Four-Axis Computer Numerical Control Machine Tools." ASME. J. Manuf. Sci. Eng. May 2018; 140(5): 051004. https://doi.org/10.1115/1.4039116
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