Journal
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
Volume 68, Issue -, Pages -Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.rcim.2020.102058
Keywords
Asymmetrical corner smoothing; Bidirectional planning and adjusting; Trajectory generation; Short-segmented toolpath; Jerk limit
Funding
- National Nature Science Foundation of China [51922059, 51775305, 91648202]
- Beijing Natural Science Foundation [JQ19010]
- Open Fund of Key Laboratory of Electronic Equipment Structure Design (Ministry of Education) in Xidian University [EESD1801]
- National Youth Talent Support Program
- State Key Laboratory of Mechanical System and Vibration [MSV202007]
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This paper introduces a novel method for local asymmetrical corner trajectory smoothing, allowing for accelerated/decelerated cornering transition. Additionally, a bidirectional planning and adjusting algorithm is proposed for situations where smoothed cornering paths are close to each other or even overlap.
The linear motion command (G01) is a widely used command format in CNC machining. However, the tangential direction discontinuity at the corner junction will cause velocity fluctuations and excite the structural vibration of machine tools. Corner smoothing methods with controlled tolerance are used to obtain continuous smooth motion. Typically, most methods generate a symmetrical cornering trajectory around the angle bisector, and the trajectory generally decelerates first and then accelerates, which limits the velocity increase. In this paper, a novel local asymmetrical corner trajectory smoothing method is proposed, which can realize accelerated/decelerated cornering transition. The proposed method can obtain the analytical solution in one step, which is different from two-step geometric-based corner path smoothing, and can generate the same cornering trajectory in back-and-forth parallel toolpath. In addition, this paper proposes a bidirectional planning and adjusting algorithm for the situation where smoothed cornering paths are close to each other or even overlap. The algorithm can generate a jerk-limited trajectory by coordinating the cornering error of adjacent corners, while respecting the user-specified tolerance. Experimental results demonstrate the effectiveness of the proposed method in contour accuracy and cycle time for CNC machining along short-segmented toolpath.
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