Five-Axis Slerp for Tool-Orientation Planning in a Five-Axis CNC Machine

五軸球面線性插值用於五軸數控機中刀具定向規劃

嚴昌道(Chang Dau Yan) ； 成維華(Wei-Hua Chieng) ； 鄭時龍(Shyr-Long Jeng)

《中國機械工程學刊》 39卷6期 (2018/12) Pp. 565-574

摘要

The quaternion spherical linear interpolation method (slerp), which many researchers have adopted for numerical control, is inadequate for tool-axis-orientation planning in general five-axis computer numerical control machines. This paper explains why the quaternion slerp method fails to achieve constant rotational speed. The machining quality is degraded when the quaternion slerp method is used in five-axis machining. To compensate for this failure, this paper proposes a solution for tool-axis-orientation planning, the five-axis slerp method, which generates steady angular velocity of the interpolation curve.

關鍵字

CNC mechanism ； Planning ； Slerp

並列摘要

一般數值控制的四元數球面線性插值方法（slerp）不適用於五軸數控機機中的刀具軸定向規劃。本文解釋了為什麼四元數slerp方法無法實現恆定轉速。當四元數slerp方法用於五軸加工時，加工品質會降低。為了彌補這一缺失，本文提出了一種工具軸定向規劃的解決方案，即五軸slerp方法，它可以應用於插值曲線的穩定角速度。