Abstract: Reciprocating machining was common in metal cutting such as grinding and planing, the smoothness of the machining processes directly affected the machining quality, energy efficiency and even the life of the machine tools. Firstly, the influences of reciprocating(stroke) motion speed planning on the smoothness of motion processes were explored, based on the analysis of the kinematics performance of common speed planning, according to the characteristics of grinding stroke motion, it was proposed to reduce the influences of soft impact on machined surface quality by changing the spatial distribution of jerks, and two speed planning algorithms were designed based on jerk continuity. Then, the relationship between speed planning algorithm and grinding force smoothness, machining surface roughness and machining energy consumption were studied, the method of reducing energy consumption by changing the spatial distribution of acceleration was proposed.The experimental results show that the speed planning of reciprocating motions is related to the smoothness of grinding forces, the roughness of machined surfaces and the energy consumption of machining. By changing the spatial distributions of jerk and acceleration, the smoothness of grinding forces and the quality of machined surfaces are improved, and the energy consumption of machining is reduced.The comprehensive performance of the proposed type Ⅱ speed planning is superior to other planning. Compared with the trapezoidal speed planning, the cutting force fluctuation, machining surface roughness and motor driving energy consumption are significantly reduced.

Key words: curve grinding, reciprocating motion, speed planning, grinding force, jerk

摘要： 往复加工常见于磨削和刨削等金属切削中，加工过程的平稳性直接影响到产品的加工质量、能源效率乃至机床的寿命。首先探究往复（冲程）运动速度规划对运动过程平稳性的影响，在分析了常见速度规划运动学性能的基础上，针对磨削冲程运动的特点，提出通过改变急动度空间分布来降低柔性冲击对加工表面质量的影响，并设计了两种基于急动度连续的速度规划算法。在此基础上，研究了速度规划算法和磨削力平稳性、加工表面粗糙度和加工能耗间的关系，提出了通过改变加速度空间分布来降低加工能耗的方法。试验结果表明，往复运动速度规划和磨削力平稳性、加工表面粗糙度以及加工能耗均相关，通过改变急动度和加速度空间分布提高了磨削力平稳性和加工表面质量，降低了加工能耗。所提出的Ⅱ型速度规划综合表现优于其他规划，与梯形速度规划相比，切削力波动、加工表面粗糙度和电机驱动能耗均有较为显著的下降。

关键词: 曲线磨削, 往复运动, 速度规划, 磨削力, 急动度