Search Results (23)

Real-time parametric interpolation plays a crucial role in achieving high-speed and high-precision multi-axis CNC machining. In the interpolation cycle, the position of the next interpolation point is required to be calculated in real-time to guide the action of the machining process. Due to the existence of the positioning error of the interpolation point, it is extremely difficult to eliminate the feedrate fluctuation, which may lead to dramatic decreases in machining quality and the driving capabilities’ saturation of each axis. A computationally efficient and precise feedrate fluctuation minimization method is proposed for the NURBS tool path interpolation in the CNC milling process. The model for the arc length and curvature, with respect to the parameter of the NURBS tool path, is established to reduce the calculation amount required by interpolation points determination. The deviation between the theoretical and actual interpolation step length is decreased by the proposed arc length compensation method to minimize the feedrate fluctuation. In addition, the interpolation points derived from the arc length compensation process are further corrected by performing the Newton iteration to restrict the feedrate fluctuation within the preset accuracy threshold. The effectiveness and superiorities of the proposed feedrate fluctuation minimization method are verified by simulation and milling experiments. Full article

Virtual simulation of high-resolution multi-axis machining processes nowadays plays an important role in the production of complex parts in various industries. In order to improve the surface quality and productivity, process parameters, such as spindle speed, feedrate, and depth of cut, need to be optimized by using an accurate process model of milling, which requires both the fast virtual prototyping of machined part geometry for tool path verification and accurate determination of cutter–workpiece engagement for cutting force predictions. Under these circumstances, this paper presents an effective volumetric method that can accurately provide the required geometric information with high and stable computational efficiency under the condition of high grid resolution. The proposed method is built on a tri-level grid, which applies two levels of adaptive refinement in space decomposition to abolish the adverse effect of a large fine-level branching factor on its efficiency. Since hierarchical space decomposition is used, this multi-level representation enables the batch processing of affected voxels and minimal intersection calculations, achieving fast and accurate modeling results. To calculate the instantaneous engagement region, the immersion angles are obtained by fusing the intersection points between the bottom-level voxel edges and the cutter surface, which are then trimmed by feasible contact arcs determined using envelope theory. In a series of test cases, the proposed method shows higher efficiency than the tri-dexel model and stronger applicability in high-precision machining than the two-level grid. Full article

With the increasing demand for processing precision in the manufacturing industry, feed-rate scheduling is a crucial component in achieving the processing quality of complex surfaces. A smooth feed-rate profile not only guarantees machining quality but also improves machining efficiency. Although the typical offline feed-rate scheduling method possesses good processing efficiency, it may not provide an optimal solution due to the NP-hard problem caused by the feed-rate scheduling of continuous curve segments, which easily results in excess kinetic limitations and feed-rate fluctuations in a real-time interpolation. Instead, the FIR (Finite Impulse Response) method is widely used to realize interpolation in real-time processing. However, the FIR method will filter out a large number of high-frequency signals, leading to a low-processing efficiency. Further, greater acceleration or deceleration is required to ensure the interpolation passes through the segment end at a predefined feed rate and the deceleration in the feed rate profile appears earlier, which allows the interpolation to easily exceed the kinetic limitation. At present, a simple offline or online method cannot realize the global optimization of the feed-rate profile and guarantee the machining efficiency. Moreover, the current feed-rate scheduling that considers both offline and online methods does not consider the situation that the call of offline data and online prediction data will lead to a decrease in the real-time performance of the CNC system. Further, real-time feed-rate scheduling data tend to dominate the whole interpolation process, thus reducing the effect of the offline feed-rate scheduling data. Hence, based on the tool path with C³ continuity (Cubic Continuously Differentiable), this paper first presents a basic interpolation unit relevant to the S-type interpolation feed-rate profile. Then, an offline local smooth strategy is proposed to smooth the feed-rate profile and reduce the exceeding of kinetic limitations and feed-rate fluctuations caused by frequent acceleration and deceleration. Further, a global online smoothing strategy based on the data generated by offline pre-interpolation is presented. What is more, FIR login and logout conditions are proposed to further smooth the feed-rate profile and improve the real-time performance and machining efficiency. The case study validates that the proposed method performs better in kinetic results compared with the typical offline and FIR methods in both the simulation experiment and actual machining experiments. Especially, in actual processing experiments, the proposed method obtains a 28% reduction in contour errors. Further, the proposed method compared with the FIR method obtains a 15% increase in machining efficiency but only a 4% decrease compared with the typical offline method. Full article

The hybrid space of robots is divided into task space and joint space, with task space focused on trajectory-tracking accuracy, while joint space considers dynamic responsiveness and synchronization. Therefore, the robot-motion control systems need to effectively integrate both aspects, ensuring precision in task trajectory while promptly responding to unforeseen environmental events. Hence, this paper proposes an online trajectory-generation method for robots in both joint and task spaces. In task space, a planning approach is presented for high-precision NURBS curves. The global NURBS curve is segmented into several rational Bezier curves, establishing local coordinate systems for control points. This ensures that all local control points meet the chord error constraint, guaranteeing trajectory accuracy. To address the feed rate dynamic planning issue for segmented curves, an improved online S-shape feed-rate scheduling framework is introduced. This framework dynamically adjusts the current execution speed to meet task requirements. In joint space, an offline velocity planning based on a time synchronization scheme and a multi-dimensional synchronization technique based on the principle of spatial-coordinate system projection are proposed. Building upon the offline scheme, it allows for the modification of the target state for any sub-dimension during the motion process, with the remaining dimensions adapting accordingly. Simulation and experimentation demonstrate that the two proposed online trajectory generations for robot motion spaces, while ensuring task trajectory accuracy, effectively handle external unexpected events. They ensure joint synchronization and smoothness, carrying significant practical implications and application value for the stability of robot systems. Full article

Reducing servo response error and further making reduction on contour error is crucial for high-precision computer numerical control (CNC) machine tools. For a permanent magnet synchronous motor (PMSM) servo system, there is always a response lag in feedrate tracking, which would introduce response error into the machining trajectory. Therefore, it is necessary to improve the performance of feedrate planning and interpolation for trajectory path. In this paper, a novel contour error compensation strategy is proposed. Compared with the mainstream methods, the proposed method offers a simplified alternative to existing contour error estimation techniques. Through a three-closed-loop control structure of a PMSM servo system, a response error model is founded. Afterwards, an improved S-model feedrate planning method is introduced according to the servo response error compensation. This predicted error is subsequently compensated in each interpolation cycle, resulting in a reduction of contour error. Finally, simulations and experiments are performed to demonstrate that the contour error can be reduced in both the ‘∞’-shaped Non-Uniform Rational B-Spline (NURBS) curve path and the butterfly-shaped NURBS curve path using the proposed method. Full article

Feedrate has a great influence on contour error in five-axis machining. Accordingly, it is of great significance to plan the time-optimal feedrate curve considering the contour error constraint to achieve high-accuracy and high-efficiency machining. Aiming at improving the error control accuracy of model linearization loss and optimizing the machining time, the PSO-based feedrate optimization algorithm for five-axis machining with constraint of contour error is proposed in this paper. Firstly, the relationship between parametric feedrate and contour error constraint is clarified that provides a model basis for accurately controlling contour error by optimizing the feedrate curve. Then, the feedrate optimization model, which takes the control vertices of the feedrate curve expressed by B-spline as the decision variables and minimizes the machining time as the optimization objective, is established. Subsequently, to overcome the shortcomings of low accuracy and low efficiency caused by single optimization of global control vertices, the group search particle swarm optimization (GSPSO) algorithm based on window movement is adopted to optimize the feedrate curve in segments. Finally, the effectiveness of the proposed feedrate optimization algorithm is validated by three typical test toolpaths on an open double-turntable five-axis machine tool. In light of the experiment, the proposed algorithm is able to fully release the potential of the machine tools while accurately controlling the contour error of the cutter tip and cutter orientation. Full article

Feedrate plays a crucial role in determining the machining quality, tool life, and machining time. Thus, this research aimed to improve the accuracy of NURBS interpolator systems by minimizing feedrate fluctuations during CNC machining. Previous studies have proposed various methods to minimize these fluctuations. However, these methods often require complex calculations and are not suitable for real-time and high-precision machining applications. Given the sensitivity of the curvature-sensitive region to feedrate variations, this paper proposed a two-level parameter compensation method to eliminate the feedrate fluctuation. First, in order to address federate fluctuations in non-curvature sensitive areas with low computational costs, we employed the first-level parameter compensation (FLPC) using the Taylor series expansion method. This compensation allows us to achieve a chord trajectory for the new interpolation point that matches the original arc trajectory. Second, even in curvature-sensitive areas, feedrate fluctuations can still occur because of truncation errors in the first-level parameter compensation. To address this, we employed the Secant-based method for second-level parameter compensation (SLPC), which does not require derivative calculations and can regulate feedrate fluctuation within the fluctuation tolerance. Finally, we applied the proposed method to the simulation of butterfly-shaped NURBS curves. These simulations demonstrated that our method achieved maximum feedrate fluctuation rates below 0.01% with an average computational time of 360 us, which is sufficient for high-precision and real-time machining. Additionally, our method outperformed four other feedrate fluctuation elimination methods, highlighting its feasibility and effectiveness. Full article

Dual NURBS interpolation has been proven an essential technique for high-speed precision machining of complex surfaces. The solution of rotation angles and their derivatives is the basis of kinematic transformation and feedrate optimization in dual NURBS interpolation. The characteristics of the rotation motion of five-axis machine tools with different structures are analyzed. A generic model of dual heads of the vertical five-axis machine tool is established to unify the solution of rotation angles. Then, a generic method for solving the rotation angles and derivatives based on the vector inner product is proposed, and the solution space is analyzed. A singularity handling is given to avoid abrupt rotation angles based on the higher derivatives of the tool orientation vector. The proposed method obtained smooth rotation angles at the singularity points in the cardioid dual NURBS interpolation experiment. It reduced the machining time by 43.3% compared with the simple inverse trigonometric method based on kinematic transformation. Experiment results demonstrate that the proposed method is feasible and effective, and has significant theoretical and practical value for optimizing five-axis CNC machining. Full article

The existing methods of measuring the baler feed rate seldom consider the influence of machine vibration on the sensor signal during field operation, which leads to the low detection accuracy and poor stability of feeding quantity detection. We established a feed rate detection model of a baler based on power monitoring of the pickup platform. Through the dynamic analysis of the pickup platform, the functional relationship between the working power of the pickup platform and the feed rate was constructed. A power monitoring system of the pickup platform was developed, and the model construction experiment of the working power and the feed rate was performed. The influence mechanism of different running speeds on the torque noise signal of the power input shaft of the pickup platform was explored. The frequency of the noise signal was mainly concentrated at 0.5–6 Hz and 9–13 Hz employing a fast Fourier transform, and the noise signal was eliminated by the frequency-domain-filtering method. The function model of working power and feed rate of the pickup platform was established based on signal processing, and the determination coefficient R² of the model was 0.9796. The field experiment results show that when the feed rate of the baler is between 1.6 and 4.88 kg/s, the determination coefficient R² and RMSE between the actual and predicted feed rate are 0.989 and 0.2, respectively. The relative error range of feed-rate prediction is −9.37–8.77%, which indicates that the model has high detection accuracy and good stability and meets the requirements of feed-rate monitoring of a baler in field operation. Full article

In microbiochips and microfluidic devices, microholes are a basic and important feature. The microdrilling of glass materials without cracks is still challenging in the fabrication of glass-based microdevices. This paper investigates the characteristics of microdrilling fused silica using polycrystalline diamond (PCD) tools fabricated by electrical discharge machining (EDM). In particular, peak forces, which are observed at the beginning of drilling, are discussed because crack formations are related to peak forces. To reduce peak forces and to minimize cracks, the effects of drilling conditions, such as tool shape, the surface roughness of a tool, and axial feedrate, were therefore investigated. It was observed that D-shape tools with high surface roughness was useful to reduce the peak force. In through-hole drilling, a sacrificial layer was used to prevent exit cracks, and a variable feedrate was applied to increase drilling speeds. Finally, a dressing process using EDM was conducted to recondition the worn tool’s surface. Full article

Most of the parts of an aircraft require the use of lightweight and high-strength materials. Since aircraft parts mainly use mechanical cutting processes, which are the most suitable material removal mechanism, to minimize changes in material properties, it is necessary to develop an optimal cutting tool and cutting solution for each material. This work aims to enhance productivity and reduce the production cost of an aircraft turbine disk through designing a cutting strategy and optimizing the cutting conditions using a simulation approach. The number of tools was reduced from eight to six compared to the existing process conditions for semi-finishing and finishing of a turbine disk, and a new tool path was proposed through simulation. The cycle time was reduced by about 24%. NC-code optimization was performed through feed-rate optimization considering cutting force and chip thickness. As a result, cycle times were reduced by about 14%. Through tool-path optimization and NC-code optimization, it was confirmed that the total cycle time was reduced by about 54%, and tool wear was significantly improved. Full article

In this study, sintered silicon carbide is machined on a high-precision milling machine with a high-speed spindle, closed-loop linear drives and friction-free micro gap hydrostatics. A series of experiments was undertaken varying the relevant process parameters such as feedrate, cutting speed and chip thickness. For this, the milled surfaces are characterized in a process via an acoustic emission sensor. The milled surfaces were analyzed via confocal laser scanning microscopy and the ISO 25178 areal surface quality parameters such as Sa, Sq and Smr are determined. Moreover, scanning electron microscopy was used to qualitatively characterize the surfaces, but also to identify sub-surface damages such as grooves, breakouts and pitting. Raman laser spectroscopy is used to identify possible amorphization and changes to crystal structure. We used grazing incidence XRD to analyze the crystallographic structure and scanning acoustic microscopy to analyze sub-surface damages. A polycrystalline diamond tool was able to produce superior surfaces compared to diamond grinding with an areal surface roughness Sa of below 100 nm in a very competitive time frame. The finished surface exhibits a high gloss and reflectance. It can be seen that chip thickness and cutting speed have a major influence on the resulting surface quality. The undamaged surface in combination with a small median chip thickness is indicative of a ductile cutting regime. Full article

Barium titanate coatings were, for the first time, sprayed by a high feed-rate plasma torch with water stabilization of the plasma. Two power levels of the torch were applied for spraying to cover steel substrates. Various substrate preheating levels from 125 °C to 377 °C were used to modify cooling conditions. Microstructure and phase composition including crystallinity quantification were observed. Dielectric measurements proved that the relative permittivity between 300 and 400 coatings is too temperature sensitive over 170 °C but fits the requirements of the EIA temperature coefficient between room temperature and 170 °C. Simultaneously, the loss tangent remains rather low, between 0.02 and 0.07, in a broad range of temperatures and frequencies. Annealing was performed in air to heal the oxygen deficiency, but only modified the microstructure insignificantly. The dielectric properties of as-sprayed and annealed samples were discussed, with the main finding that the temperature coefficient of permittivity was improved by annealing. This study contributes to the search for the suitability of plasma-sprayed BaTiO₃ coatings for application in the electrical industry, namely by the optimization of conditions for high feed-rate spraying. Full article

Reports in the literature indicate that temperature control in Friction Stir Welding (FSW) enables better weld properties and easier weld process development. However, although methods of temperature control have existed for almost two decades, industry adoption remains limited. This work examines single-loop Proportional-Integral-Derivative (PID) control on spindle speed as a comparatively simple and cost-effective method of adding temperature control to existing FSW machines. Implementation of PID-based temperature control compared to uncontrolled FSW in AA6111 at linear weld speeds of 1–2 m per minute showed improved mechanical properties and greater consistency in properties along the length of the weld under temperature control. Additionally, results indicate that a minimum spindle rpm may exist, above which tensile specimens do not fracture within the weld centerline, regardless of temperature. This work demonstrates that a straightforward, PID-based implementation of temperature control at high weld rates can produce high quality welds. Full article

When the CNC machining of continuous small line segments is performed, the direction of the machine tool movement will change abruptly at the corner of adjacent line segments. Therefore, a reasonable constraint on the feedrate at the corner is the prerequisite for achieving high-speed and high-precision machining. To achieve this goal, a feedrate-constraint method based on the nominal acceleration was proposed. The proposed method obtains the predicted value of acceleration during the machining process by the machining trajectory prediction and acceleration filtering. Then, the feedrate at the corner is constrained, according to the predicted acceleration. Specifically, for any corner of adjacent line segments, the proposed method assumes that the CNC machining of a short path centered on the corner is carried out at a constant feedrate. First, the actual machining trajectory is predicted according to the transfer function of the servo system. Then, the nominal acceleration, when the CNC machining is carried out to the corner, is calculated and processed by a low-pass FIR filter. Last, the feedrate-constraint value at the corner is obtained according to the nominal acceleration and the preset normal acceleration. The advantage of the proposed method is that it can be used for different machining paths consisting of long segments or continuous small segments and it has no special requirement for the accuracy of the machining path. As a result, the feedrate-constraint value obtained is reasonable and the smooth machining process can be ensured. The simulation results in both 2D and 3D machining paths show that the proposed method is insensitive to the length of the line segment and the angle of the corner, and the calculated feedrate-constraint value is close to the theoretical value, which has good stability and versatility. In contrast, the feedrate-constraint values obtained by conventional methods change abruptly along the machining path, especially in the 3D simulation, which will damage the machining quality. The experiment was performed on a three-axis CNC machine tool controlled by a self-developed controller, and a free-form surface workpiece was machined by a conventional feedrate-constraint method and the proposed method, respectively. The experimental results showed that the proposed method can make the feedrate of the machining process higher and more stable. Then, machining defects such as overcutting and undercutting can be avoided and the machining quality can be improved. Therefore, the article proposes a new method to constrain the feedrate at the corner of continuous small line segments, which can improve the machining efficiency and quality of the CNC machining. Full article