Five-axis interpolation of continuous short linear trajectories for 3[PP]S-XY hybrid mechanism by dual Bezier blending

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• 作者：Jing Shi 石 璟 ; Qingzhen Bi 毕庆贞…
• 关键词：five ; axis interpolation ; hybrid mechanism ; dual Bezier blending ; look ; ahead ; smoothing ; speed planning ; TG 659 ; TP 273
• 刊名：Journal of Shanghai Jiaotong University (Science)
• 出版年：2016
• 出版时间：February 2016
• 年：2016
• 卷：21
• 期：1
• 页码：90-102
• 全文大小：6,015 KB
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• 作者单位：Jing Shi 石 璟 (1)
  Qingzhen Bi 毕庆贞 (1)
  Yuhan Wang 王宇晗 (1)
  
  1. School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai, 200240, China
  
• 刊物类别：Engineering
• 刊物主题：Electrical Engineering
  Life Sciences
  Architecture
  Chinese Library of Science
  
• 出版者：Shanghai Jiao Tong University Press
• ISSN：1995-8188

文摘

A novel five-axis real-time interpolation algorithm for 3[PP]S-XY hybrid mechanism is proposed in this paper. In the algorithm, the five-axis tool path for controlling this hybrid mechanism is separated into two sub-paths. One sub-path describes the movement of 3[PP]S parallel kinematic mechanism module, and the other one describes the movement of XY platform. A pair of cubic Bezier curves is employed to smooth the corners in those two sub-paths. Based on the homogenous Jacobian matrix of 3[PP]S mechanism, a relationship between the position errors of every driving joint in hybrid mechanism and the position deviation of the tool tip center point at the moving platform is established. This relationship is used to estimate the approximation error for the corners smoothing according to the accuracy requirement of tool tip center in interpolation. Due to the high computational efficiency of this corner smoothing method, it is integrated into the look-ahead module of computer numerical control (CNC) system to perform online tool path smoothing. By performing the speed planning based on a floating window scheme, a jerk limited S-shape speed profile can be generated efficiently. On this basis, a realtime look-ahead scheme, which is comprised of path-smoothing and feedrate scheduling, is developed to acquire a speed profile with smooth acceleration. A monotonic cubic spline is employed for synchronization between those two smoothed sub-paths in tool path interpolation. This interpolation algorithm has been integrated into our own developed CNC system to control a 3PRS-XY experimental instrument (P, R and S standing for prismatic, revolute and spherical, respectively). A club shaped trajectory is adopted to verify the smoothness and efficiency of the five-axis interpolator for hybrid mechanism control. Keywords five-axis interpolation hybrid mechanism dual Bezier blending look-ahead smoothing speed planning