本論文針對五軸工具機提出一刀具路徑規劃、插補以及動態匹配之方法來達到高速高精度之加工應用。相關研究重點包含PC-based系統架構、運動控制器設計、順逆向運動方程式之推導、加工路徑規劃與插補、後處理設定與五軸動態匹配。為了提升五軸運動控制之精度,首先須針對五軸伺服系統進行系統鑑別並求得動態模型,給定之系統規格設計運動控制器,並使用ISO五軸檢測程序調整伺服增益以達成五軸動態匹配。接著透過齊次座標轉換矩陣推導五軸順逆向運動方程式,利用CAM軟體以及其後處理器規劃刀具路徑並產生NC加工程式,使用HEIDENHAIN控制器產生五軸同動之高速平滑插補命令。最後,在搭配PC-based控制器的擺頭-搖籃型的五軸雕刻機上進行實驗,實驗結果顯示本文所提出之刀具路徑規劃、插補以及動態匹配方法可提升刀具中心點之加工精度。
The paper presents an approach including tool path planning, trajectory interpolation and dynamic matching for five-axis machine tools to achieve high-speed and high-precision machining. The studies consist of the issues on PC-based control architecture, motion controller, forward and inverse kinematics, tool path planning and interpolation, postprocessor and dynamic analysis. To improve the accuracy of five-axis motion control, a system identification method is utilized to obtain the dynamics models. Motion controller is designed by means of the given specification of the servo dynamics systems. Five-axis dynamics are matched according to the ISO inspection process. Forward and inverse kinematics equations are derived based on the kinematic configuration of five-axis machine tools. Tool paths and NC codes of the parts are acquired by means of CAM software such as UG/NX and its postprocessor, respectively. Smooth five-axis motion commands are generated through HEIDENHAIN controller. Finally, experiments are carried out on a C-type five-axis engraving machine with a PC-based controller. The experiment results demonstrate that the proposed approach can be utilized to improve the machining accuracy of the tool center point (TCP) for five-axis machine tools.
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