一种高速高精的路径动态前瞻规划算法

发布时间：2018-06-23 07:28

  本文选题：小线段 + 路径规划　； 参考：《机械工程学报》2016年11期

【摘要】：由于路径规划过程与速度规划过程之间缺乏信息交换,加工过程会出现加工速度与加工质量降低的现象,针对这一问题,提出了种高速、高精的路径动态前瞻规划算法。根据相邻加工路径之间的关系,规划出过渡圆弧半径的初始值;根据当前过渡圆弧与相邻的前一个过渡圆弧之间的关系,调整当前过渡圆弧的半径值;利用前瞻算法,结合具体的速度规划方式,进一步调整过渡圆弧的半径值,以确保加工过程中刀具既可以加速到路径所允许的最大速度,又可以在减速点前进行有效的减速。试验表明,通过将路径规划过程与速度规划过程相结合,算法在系统允许的误差范围内实现了有效的路径规划,并且最大程度地提高了加工速度,在保证加工精度的同时,提高了加工效率。
[Abstract]:Due to the lack of information exchange between the process of path planning and the process of speed planning, machining speed and quality will decrease in the process of processing. In order to solve this problem, a high speed and high precision algorithm for path dynamic forward planning is proposed. According to the relationship between the adjacent machining paths, the initial value of the radius of the transition arc is planned; the radius value of the current transition arc is adjusted according to the relationship between the current transition arc and the previous one of the adjacent arc; and the forward looking algorithm is used. Combined with the specific speed planning method, the radius value of the transition arc is further adjusted to ensure that the tool can accelerate to the maximum speed allowed by the path during the machining process and can effectively decelerate before the deceleration point. The experimental results show that by combining the path planning process with the speed planning process, the algorithm realizes the effective path planning within the error range allowed by the system, and improves the machining speed to the maximum extent, and at the same time ensures the machining accuracy. The processing efficiency is improved.
【作者单位】： 中国科学院大学;中国科学院沈阳计算技术研究所高档数控国家工程中心;沈阳高精数控技术有限公司;
【基金】：国家科技重大专项资助项目(2013ZX04007-011)
【分类号】：TG659
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本文编号：2056347