运动学约束下直线转角非对称平滑加工规划

doi:10.3969/j.issn.1004-132X.2022.22.002

中国机械工程 ›› 2022, Vol. 33 ›› Issue (22): 2655-2663.DOI: 10.3969/j.issn.1004-132X.2022.22.002

运动学约束下直线转角非对称平滑加工规划

何昱龙1,2;琚长江1,2;杨根科1,2;王成光 1,3

1.上海交通大学宁波人工智能研究院,宁波,315000
2.上海交通大学自动化系，上海,200240
3.宁波工业互联网研究院,宁波,315000

出版日期:2022-11-25 发布日期:2022-12-22
通讯作者: 琚长江（通信作者），男，1974年生，副研究员。研究方向为网络化控制系统研发。E-mail: juchangjiang@sjtu.edu.cn。
作者简介:何昱龙，男，1997年生，硕士研究生。研究方向为嵌入式运动控制系统研发。
基金资助:
国家重点研发计划(2020YFB1711200)

Linear Corner Asymmetry Smoothing Planning under Kinematics Constraints

HE Yulong1;JU Changjiang1;YANG Genke1,2;WANG Chengguang1,3

1.Ningbo Artificial Intelligence Institute,Shanghai Jiao Tong University,Ningbo,Zhejiang,315000
2.Department of Automation,Shanghai Jiao Tong University,Shanghai,200240
3.Ningbo Industrial Internet Institute,Ningbo,Zhejiang,315000

Online:2022-11-25 Published:2022-12-22

摘要/Abstract

摘要： 为实现数控加工中直线转角处的连续平滑进给，提出了一类直线转角的非对称平滑加工规划方法。针对转角初末速度、加速度大小不同的情况，考虑直线转角处的运动学约束和几何误差约束，并将高次转角模型求解化简为线性规划问题，可直接解算转角参数，实现进给速率平滑与刀具轨迹平滑的同步规划，提高规划效率与加工效率。与对称转角平滑的仿真对比实验结果表明，所提方法在保证加工过程平稳的情况下效率与精度有所提高，运动平台样机实验验证了该方法的可行性。

关键词: 直线转角平滑, 非对称, 速度平滑, 运动学约束

Abstract: In order to realize the continuous smooth feeds at the straight-line corners in CNC machining, a kind of asymmetric smooth machining planning method for the straight-line corners was proposed. Aiming at the situations where the initial and final velocities and accelerations of the corners were different, the kinematics and geometric error constraints at the straight-line corners were considered, and the solution of the high-order corner model to a linear programming problem was simplified, which might directly solve the corner parameters , realize the advanced simultaneous planning for rate smoothing and tool path smoothing improves planning efficiency and processing efficiency. The simulation comparison experiments with the symmetric corner smoothing show that the proposed method may ,and improve the efficiency and accuracy while ensuring the smooth machining processes. The motion platform prototype experiments verify the feasibility of the proposed method.

Key words: smooth corner of straight-line, asymmetry, smooth of velocity, kinematics constraint

中图分类号:

TP391

何昱龙, 琚长江, 杨根科, 王成光 , . 运动学约束下直线转角非对称平滑加工规划[J]. 中国机械工程, 2022, 33(22): 2655-2663.

HE Yulong, JU Changjiang, YANG Genke, WANG Chengguang, . Linear Corner Asymmetry Smoothing Planning under Kinematics Constraints[J]. China Mechanical Engineering, 2022, 33(22): 2655-2663.

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http://www.cmemo.org.cn/CN/Y2022/V33/I22/2655

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运动学约束下直线转角非对称平滑加工规划

Linear Corner Asymmetry Smoothing Planning under Kinematics Constraints

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