An Analytical Decoupled Corner Smoothing Method for Five-Axis Linear Tool Paths

Zhao, Xin; Zhao, Huan; Wan, Shaohua; Li, Xiangfei; Ding, Han

doi:10.1109/access.2019.2898703

Cited by 18 publications

(7 citation statements)

References 22 publications

(39 reference statements)

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“…As shown in Fig 2, a parametric position spline will be inserted into the two linear tool path segments, which is a k degree B-spline generated by n+1 control point vectors 𝐏 𝑗 = [𝑥 𝑗 , 𝑦 𝑗 , 𝑧 𝑗 ] (here, we denote that 𝐏 𝑗 = [𝑥 𝑗 , 𝑦 𝑗 , 𝑧 𝑗 ] and 𝑃 𝑗 = [𝑥 𝑗 , 𝑦 𝑗 , 𝑧 𝑗 ] are the control point vector and the position of the control point, respectively. ), i.e., 𝐏(𝑢) = ∑ 𝑁 𝑗,𝑘 (𝑢)𝐏 𝑗 , 𝑢 ∈ [0,1] 𝑛 𝑗=0 (1) where the basis functions 𝑁 𝑗,𝑘 are defined by the geometric parameter u and the knot vector 𝑈 = [𝑢 0 , 𝑢 1 , … , 𝑢 𝑛+𝑘+1 ] with the following recursive form:…”

Section: Position Splinementioning

confidence: 99%

“…In recent years, multi-axis machine tools have been widely applied in manufacturing highprecision and complex parts in the automotive, marine and aerospace fields, such as turbine blades. [1,2]. Generally, tool paths will follow a spline representation in the CAM system, but eventually be converted into a series of small linear segments and sent to the CNC controller.…”

Section: Introductionmentioning

confidence: 99%

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An Analytical Local Tool Path Smoothing Method with Curvature Control

Zhao¹,

Wei²,

Jing³

et al. 2023

Preprint

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In traditional multi-axis machining, the linear tool path generated by computer-aided manufacturing systems is still in a broad tool path format, resulting in discontinuities at the corners, which slow down tool motion, and also trigger tool vibration, reducing machining accuracy and surface quality. In order to ensure the C3 continuity of the tool during the multi-axis machining process, this paper proposes an analytical B-spline local smoothing method with curvature control. The tool position trajectory and tool orientation are both smoothed by a 5th spline curve with 9 control points. Optimal control points are determined for position and orientation splines to achieve C3 continuity at the junctions between the spline and linear segment while preserving the predefined geometric tolerance limits and minimizing the maximum curvature of the inserted B-spline curve. The smoothed tool path is expected to have less curvature fluctuation, which can significantly improve both the kinematic performance of the machine tool and the machining efficiency. Both computer simulations and physical printing experiments are carried out to demonstrate the improvements of our proposed method in motion smoothness and tracking accuracy in multi-axis machining tasks.

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Section: Position Splinementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

An Analytical Local Tool Path Smoothing Method with Curvature Control

Zhao¹,

Wei²,

Jing³

et al. 2023

Preprint

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show abstract

“…The cubic B-spline curve [19] has the characteristics of derivative continuity and local supportability, and it is utilized for joint trajectory planning of assembly manipulator.…”

Section: Trajectory Planning and Optimization A Cubic B-spline Tmentioning

confidence: 99%

Design and Preliminary Ground Experiment for Robotic Assembly of a Modular Space Telescope

Jiang

et al. 2019

IEEE Access

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Large-aperture space telescope is the key equipment for studying the origin and evolution of the universe and various celestial bodies. Developing large-aperture space telescope is challenging and has become a priority in the field of optical engineering. Due to the mass and volume constraints of launch vehicles, it has to be designed and launched in modules and then assembled on-orbit by space robots. In this paper, we present a conceptual of 10-meter diameter modular space telescope together with robotic assembly strategy. To fulfill on-orbit assembly and maintenance of the space telescope, a novel assembly robot with a ring-shaped mobile base and a redundant stretchable manipulator is proposed. The time-optimal trajectory planning based on genetic algorithm is utilized to achieve efficient assembly. The preliminary ground experiment of assembling submirror modules of space telescope using the KUKA LWR iiwa-7 is carried to verify the feasibility of the proposed method, and the results show that the assembly task of telescope modules can be accomplished successfully with appropriate forces and torques. INDEX TERMS Modular space telescope, robotic assembly, path planning.

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“…In the ideal situation, the curvatures should match at the junction, otherwise a noticeable jerking motion occurs along the axes. Alternative parametric curves for the circular arc include cubic B-splines [6,7], quintic B-splines [8][9][10], clothoid splines [11], dual quartic Bézier splines [12], quintic Bézier splines [13,14], and PH curves [15,16]. For corner error control, the present study considers the limits of jerking motion along each axis, the quintic Bézier curve is used.…”

Section: Introductionmentioning

confidence: 99%

Real-Time Local Optimal Bézier Corner Smoothing for CNC Machine Tools

Lu¹,

Chen

2021

IEEE Access

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A straight line or G01 is the most common path in computer numerical control (CNC) contour machining. However, non-smooth corners introduce discontinuous movement along each axis during machining. The commonly used strategy is to redesign a corner into a smooth corner path. Therefore, optimal corner smoothing should simultaneously find an optimal corner path and a corner speed that satisfied the axis motion limits. To achieve this goal, we use particle swarm optimization (PSO) to find the optimal Bézier curve and the optimal corner speed, then convert the axis constraints into polynomial inequalities and use fitness selection to deal with axis acceleration and jerk limits. For real-time operation, we establish a look-up table with the optimal corner speed and corner path models for use by a CNC controller. In the experiment, the YCM NXV560A vertical machining center was used to conduct a real machining test on a Taiwan contour, and the feasibility of the controller to generate the optimal corner strategy for various linear paths was verified.INDEX TERMS Bézier corner curve, CNC machine tool, corner smoothing, particle swarm optimization (PSO)

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An Analytical Decoupled Corner Smoothing Method for Five-Axis Linear Tool Paths

Cited by 18 publications

References 22 publications

An Analytical Local Tool Path Smoothing Method with Curvature Control

An Analytical Local Tool Path Smoothing Method with Curvature Control

Design and Preliminary Ground Experiment for Robotic Assembly of a Modular Space Telescope

Real-Time Local Optimal Bézier Corner Smoothing for CNC Machine Tools

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