کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
414474 | 680957 | 2012 | 12 صفحه PDF | دانلود رایگان |

In this paper, the problem of optimal feedrate planning along a curved tool path for 3-axis CNC machines with the acceleration and jerk limits for each axis and the tangential velocity bound is addressed. It is proved that the optimal feedrate planning must be “Bang–Bang” or “Bang–Bang-Singular” control, that is, at least one of the axes reaches its acceleration or jerk bound, or the tangential velocity reaches its bound throughout the motion. As a consequence, the optimal parametric velocity can be expressed as a piecewise analytic function of the curve parameter u. The explicit formula for the velocity function when a jerk reaches its bound is given by solving a second-order differential equation. Under a “greedy rule”, an algorithm for optimal jerk confined feedrate planning is presented. Experiment results show that the new algorithm can be used to reduce the machining vibration and improve the machining quality.
► An optimal feedrate under confined jerk is shown to be Bang–Bang-Singular.
► The concept of velocity limit surface is introduced.
► Close form solutions of velocity integration trajectory with given jerk are given.
► A greedy algorithm for optimal velocity planning under confined jerk is given.
Journal: Robotics and Computer-Integrated Manufacturing - Volume 28, Issue 4, August 2012, Pages 472–483