Avoiding 5-axis singularities using tool path deformation

Integrated method for tool path generation in five-axis sculptured surface machining

“…The smoothness of the cutter movement is critical in 5-axis machining, and it is generally characterised by the rate of change of particular variables, such as the speed of the CC point (Lo 1999), the direction vector of the cutter axis Jerard 1994, Jun et al 2003), and the angles of machine rotary axes (Affouard et al 2004, Munlin et al 2004. The speed of the CC point is determined mainly by the setting of the feed rate.…”

“…It should be noted that special care is needed for calculating the inverse kinematics of 5-axis milling machines, due to singularities in the coordinate vector transformation. Consequently, a small deviation is given to any tool orientation close to the singular positions to avoid abrupt changes in the machine rotary axes (Affouard et al 2004, Munlin et al 2004, Sørby 2007.…”

Kinematic Performances in 5-Axis Machining

“…From the programmed tool-path, the IKT calculates corresponding articular configurations. Two calculation modes are possible, the IKT can be performed in real time by the NC unit during machining or it can be computed off-line by a dedicated post-processor [1]. As our objective is to predict articular configurations computed in real time by the NC unit, a post-processor is created to simulate the IKT by the CNC.…”

Closed-form inverse kinematics of 6R milling robot with singularity avoidance

“…The retraction of the tool along the tool's main axis, for example, which causes interruptions in the machining, can be left out [2]. Furthermore, additional positions when shifting the direction close to singularities are no longer necessary, which on the one hand cause the deterioration of the workpiece surface and on the other hand have a negative influence on the size of the milling program and reduce the feed rate [2][3][4].…”