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        A Local and Analytical Curvature-Smooth Method with Jerk-Continuous Feedrate Scheduling along Linear Toolpath

        Yong Zhang,Peiqing Ye,Hui Zhang,Mingyong Zhao 한국정밀공학회 2018 International Journal of Precision Engineering and Vol.19 No.10

        Linear toolpath, which is always in forms of a large amount G01 codes, is most popular in practical Computer Numerical Control (CNC) systems. The linear toolpath discontinuity will bring the unavoidable fluctuations on velocity and acceleration, leading to unsatisfied machining efficiency and quality. To improve the G01 machining, corners are normally smoothened by various smooth curves and in this paper, a novel two-step method including path-smoothing and feedrate scheduling is proposed. In path-smoothing, a B-spline curve is adopted to blend sharp corners locally and the smooth curvature along transition toolpath is obtained. With constrained chord error, the analytical curvature extreme is proved to occur at the B-spline midpoint and optimal curvature extreme is searched to enhance machining efficiency. In feedrate scheduling, based on the extreme points, a look-ahead methodology is utilized to determine the reachable feedrate at these critical points and a jerk-continuous scheduling scheme is developed afterwards. To verify the proposed method, tracking and machining experiments are conducted to demonstrate the efficiency, contour performance as well as machining quality compared to point-to-point and curvature-continuous methods.

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        Development of an Adaptive-Feedrate Planning and Iterative Interpolator for Parametric Toolpath with Normal Jerk Constraint

        Yong Zhang,Hui Zhang,Jiadong Shi,Jiali Jiang,Mingyong Zhao 한국정밀공학회 2021 International Journal of Precision Engineering and Vol.22 No.1

        Compared to conventional linear and circular segments, the parametric curve has advantages in approximating and machining, guaranteeing higher machining precision and better machining quality. Therefore, in Computer Numerical Control (CNC) systems, parametric toolpath has become more and more popular for its high-performance in practical machining and the performance of the parametric interpolator has become a standard to illustrate the advanced CNC systems. In this paper, adaptive-feedrate planning and the iterative interpolator have been developed to generate sampling points with respect to error and higher order kinematic constraints. Firstly, a jerk-limited feedrate profile and look-ahead algorithm are utilized to provide reachable feedrate at critical points. Afterwards, normal jerk (i.e. the jerk in a normal direction) are limited to improve machining precision and quality. In theory, it is proved that the normal jerk limitations have relationship with curvature derivative and a novel iterative interpolator is proposed to ensure the normal jerk limitation by considering the corresponding constraints at curvature derivative extreme points. Finally, simulation and experiments are conducted to demonstrate the efficiency and contour performance of the proposed method compared to conventional method and time-optimal method.

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