Determination of the singularity-free postprocessor for hybrid five-axis machine tools

Yuan Lung Lai, Chien Chih Liao, Zi Gui Chao, Tzuo Liang Luo

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Due to the rotary axes of the machine, the tool path between two blocks in the NC program will drive the pivot move non-linearly relative to the workpiece, reducing the accuracy of the tool path. Linearization of the tool path in the postprocessor will solve the problem. An algorithm will be proposed to modify the exact inverse kinematics in order to give robustness to singularities at the least cost of tool orientation deviation. The kinematics of a five-axis machine with virtual C-axis rotary axes is analyzed. Applying forward kinematics will lead to a closed form solution of the inverse kinematics is presented. Due to the singular configuration problem may cause large machining error, generating smooth tool trajectories crossing neighborhood of singular points.

Original languageEnglish
Title of host publication2016 International Conference on Robotics and Automation Engineering, ICRAE 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages39-43
Number of pages5
ISBN (Electronic)9781509040728
DOIs
Publication statusPublished - 2016 Nov 8
Event2016 International Conference on Robotics and Automation Engineering, ICRAE 2016 - Jeju-Do, Korea, Republic of
Duration: 2016 Aug 272016 Aug 29

Publication series

Name2016 International Conference on Robotics and Automation Engineering, ICRAE 2016

Other

Other2016 International Conference on Robotics and Automation Engineering, ICRAE 2016
CountryKorea, Republic of
CityJeju-Do
Period16-08-2716-08-29

Fingerprint

Machine Tool
Machine tools
Tool Path
Singularity
Inverse Kinematics
Inverse kinematics
Kinematics
Pivot
Singular Point
Closed-form Solution
Machining
Linearization
Deviation
Trajectory
Robustness
Configuration
Trajectories
Costs

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering
  • Control and Optimization
  • Control and Systems Engineering

Cite this

Lai, Y. L., Liao, C. C., Chao, Z. G., & Luo, T. L. (2016). Determination of the singularity-free postprocessor for hybrid five-axis machine tools. In 2016 International Conference on Robotics and Automation Engineering, ICRAE 2016 (pp. 39-43). [7738785] (2016 International Conference on Robotics and Automation Engineering, ICRAE 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRAE.2016.7738785
Lai, Yuan Lung ; Liao, Chien Chih ; Chao, Zi Gui ; Luo, Tzuo Liang. / Determination of the singularity-free postprocessor for hybrid five-axis machine tools. 2016 International Conference on Robotics and Automation Engineering, ICRAE 2016. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 39-43 (2016 International Conference on Robotics and Automation Engineering, ICRAE 2016).
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abstract = "Due to the rotary axes of the machine, the tool path between two blocks in the NC program will drive the pivot move non-linearly relative to the workpiece, reducing the accuracy of the tool path. Linearization of the tool path in the postprocessor will solve the problem. An algorithm will be proposed to modify the exact inverse kinematics in order to give robustness to singularities at the least cost of tool orientation deviation. The kinematics of a five-axis machine with virtual C-axis rotary axes is analyzed. Applying forward kinematics will lead to a closed form solution of the inverse kinematics is presented. Due to the singular configuration problem may cause large machining error, generating smooth tool trajectories crossing neighborhood of singular points.",
author = "Lai, {Yuan Lung} and Liao, {Chien Chih} and Chao, {Zi Gui} and Luo, {Tzuo Liang}",
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Lai, YL, Liao, CC, Chao, ZG & Luo, TL 2016, Determination of the singularity-free postprocessor for hybrid five-axis machine tools. in 2016 International Conference on Robotics and Automation Engineering, ICRAE 2016., 7738785, 2016 International Conference on Robotics and Automation Engineering, ICRAE 2016, Institute of Electrical and Electronics Engineers Inc., pp. 39-43, 2016 International Conference on Robotics and Automation Engineering, ICRAE 2016, Jeju-Do, Korea, Republic of, 16-08-27. https://doi.org/10.1109/ICRAE.2016.7738785

Determination of the singularity-free postprocessor for hybrid five-axis machine tools. / Lai, Yuan Lung; Liao, Chien Chih; Chao, Zi Gui; Luo, Tzuo Liang.

2016 International Conference on Robotics and Automation Engineering, ICRAE 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 39-43 7738785 (2016 International Conference on Robotics and Automation Engineering, ICRAE 2016).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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AB - Due to the rotary axes of the machine, the tool path between two blocks in the NC program will drive the pivot move non-linearly relative to the workpiece, reducing the accuracy of the tool path. Linearization of the tool path in the postprocessor will solve the problem. An algorithm will be proposed to modify the exact inverse kinematics in order to give robustness to singularities at the least cost of tool orientation deviation. The kinematics of a five-axis machine with virtual C-axis rotary axes is analyzed. Applying forward kinematics will lead to a closed form solution of the inverse kinematics is presented. Due to the singular configuration problem may cause large machining error, generating smooth tool trajectories crossing neighborhood of singular points.

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Lai YL, Liao CC, Chao ZG, Luo TL. Determination of the singularity-free postprocessor for hybrid five-axis machine tools. In 2016 International Conference on Robotics and Automation Engineering, ICRAE 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 39-43. 7738785. (2016 International Conference on Robotics and Automation Engineering, ICRAE 2016). https://doi.org/10.1109/ICRAE.2016.7738785