关键词: 五轴端铣, 平底刀, 3D刀具半径补偿, 奇异点, 运动控制

Abstract:

In the process of five-axis end milling with a  flat-bottomed tool,if the 3D cutter compensation function was adopted,the motion of linear axis control point would be unsteady because there would be singular solution during solving the radius
compensation vector.To provide the precondition for solving such problem,it was needed to detect positions where motion mutation will happen.The reason that the singular point generated during 3D cutter compensation was analyzed based on building the relationship between coordinates of the cutter contact point and the linear axis control  point.For the singular point,the adjacent points of the singular point and the boundary of the singular area, which were three positions where motion mutation would happen,a detected algorithm was advanced,which was based on calculating the angle between the tool axis vector and the normal vector and observing the symbol of the dominant angle of the tool axis posture.A simulation experiment was performed to verify the correctness and the effectiveness of this algorithm. 

Key words: 5-axis end milling, flat-bottomed tool, 3D cutter radius compensation, singular point, motion control