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中文摘要：
五轴联动数控系统执行端铣3D刀具半径补偿功能时,当刀轴矢量与曲面法矢量非常接近时,相邻插补点处的半径补偿矢量会出现转角过大的现象,从而引起机床直线轴的速度突变。在建立切触点到刀心点再到机床轴的传递关系的基础上,分析半径补偿矢量存在奇异解并引起机床轴运动突变的原因。以平底刀为例给出相应的控制算法。通过旋转优化奇异区域内各插补点处半径补偿矢量的位置,消除相邻半径补偿矢量反向的极限现象;通过插值进一步降低速度突变程度,使各轴速度都降至最大允许值以内。与直接使用相邻插补周期的半径补偿矢量进行赋值的方法相比,该算法通用性更高,对突变的处理效果更好。仿真试验证明了该算法的正确性和有效性。
英文摘要：
When the five-axis CNC system executes the 3D cutter radius compensation function, the angle between two adjacent radius compensation vectors would be very large if the tool axis vector nearly coincides with the normal vector. This phenomenon will cause the linear axis moving drastically. The reason for this phenomenon is analyzed based on building the transmission relation from the cutter contact point to the cutter location point, and then to the machine axis. The algorithm is advanced, by taking the flat-bottomed tool as an example,to control the severe motion. By optimizing the direction of the radius compensation vectors in the singular area, the phenomenon that two adjacent radius compensation vectors point to opposite direction is eliminated. Further, the speed of the linear axis could reduce into the allowed range by interpolating new points. Compared with the assignment method with the adjacent radius compensation vector, such algorithm has higher generality and better effect. A simulation experiment is performed to verify the correctness and the effectiveness of this algorithm.
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