中文摘要：

针对五轴联动传统插补方法中存在的速度波动问题，提出了面向刀尖点速度平滑的五轴联动插补算法．综合考虑了机床动力学约束和刀具路径的几何约束，对各程序段段内进给速度、加速度和段间衔接速度进行优化，同时，采用工件坐标系下平均速度的方法对刀尖点速度进行平滑处理，导出了程序段起点速度的运动学约束条件，并给出了相应的进给速度调整方法．结果表明，所提出的算法进给速度平滑，加工时间比传统的插补算法缩短了62．7％．

英文摘要：

In order to alleviate the feed fluctuations in the traditional interpolator, a five-axis interpolation algorithm for smooth speed of the tool tip was proposed. The optimal speed, acceleration and joint feed for each segment were obtained, respecting the machine dynamic limits and geometric constraints of the tool path. A smooth speed of the tool tip was attained with an average speed method in the part coordinate system. Feed adjusting methods and the corresponding kinematic constraint were presented to obtain a smooth Acc/Dec profile and maintain constant sampling periods. The experimental results indicate that the proposed interpolator maintains a smooth feed and reduces the machining time by 62.7% as compared to that of the traditional interpolator.