关键词: 五轴机床, 速度规划, 跃度约束, 非线性最优化, 序列二次规划

Abstract: Aiming at the problem that the acceleration and jerk of axes may violate the limitations in five-axis high speed machining caused by nonlinear transformation between Cartesian coordinates and axes space,the velocity planning method considering jerk constraints of driving axes was proposed.Based on the inverse kinematic solution of the mechanical system,the mapping relations between speed,acceleration,jerk of the axes and feed velocity were deduced,and the constraints on the axes were established.The processing efficiency was taken as the optimization target to establish the optimal high dimensional nonlinear model with multi-constraint.The Sequential Quadratic Programming (SQP) method was applied to solve the non-linear optimization problem in three stages: under velocity,acceleration and jerk constraints separately.Simulation and experiment results showed that the algorithm could ensure the feed velocity keeps as close as possible to user's setting value,while the acceleration and jerk of the driving axes meet the restrictive conditions.

Key words: five-axis machine tool, velocity planning, jerk constraints, nonlinear optimization, sequential quadratic programming