CAJ | 학술논문

基于几何误差可等效为微分运动的原理，提出了基于微分变换的多轴数控机床几何误差建模的方法；运用雅可比矩阵建立了补偿值与刀具位姿误差之间的映射关系，矩阵中的元素可通过微分变换进行求解，由此利用雅可比矩阵的广义逆建立误差解耦模型。在此基础上，设计了多轴数控机床通用的自动化解耦计算流程。最后进行了五轴联动测试轨迹的误差补偿实验，补偿后的轨迹精度得到了显著的提高，验证了误差模型及解耦算法的有效性。
기우궤하오차가등효위미분운동적원리，제출료기우미분변환적다축수공궤상궤하오차건모적방법；운용아가비구진건립료보상치여도구위자오차지간적영사관계，구진중적원소가통과미분변환진행구해，유차이용아가비구진적엄의역건립오차해우모형。재차기출상，설계료다축수공궤상통용적자동화해우계산류정。최후진행료오축련동측시궤적적오차보상실험，보상후적궤적정도득도료현저적제고，험증료오차모형급해우산법적유효성。
A new modeling method for multi-axis CNC machines was proposed based on differenti-al transformation theory,where the geometric errors were equivalent to the differential movement rel-ative to its ideal position.Meanwhile,the Jacobian matrix was adopted to describe the mapping rela-tion between tool pose error vectors and compensation error vectors,and all elements in the matrix could be solved by differential transformation.Thus the compensation error vectors were calculated by computing the generalized inverse of Jacobian martix.And then,an automatic error decoupling procedure was developed herein.Finally,an experiment was conducted on a five-axis CNC machine to test and verify this method.The results show that the overall position accuracy of the test path is im-proved dramatically.