Abstract: Aiming at the problem that the motion stability of machine tool was affected by first-order linear discontinuous path of discrete tool, the fairing method was used for linear tool path under Work Coordinate System(WCS) to obtain the dual-NURBS tool path with equal distance which satisfied the given fitting accuracy and G1 continuation. The dualquaternion was used to describe five-axis tool position, and the linear tool path in WCS was fitted with dual-quaternion B-spline vector function to obtain the tool path B-spline trajectory of five-axis linkage. The dual-NURBS tool path with equal distance for describing the locus of tool tip point and tool axis point was obtained by interpolation. The proposed method was used to fair the linear tool path in WCS, and the result showed that it could not only improve the motion stability of tool, but also could obtain the satisfying process accuracy.

Key words: five-axis machining|dual quaternion|double splines with equal distance|tool path

摘要： 针对由离散刀位构成的一阶线性不连续刀路影响机床运动平稳性的问题，提出在工件坐标系下对线性刀路进行光顺，获取满足精度且达到G1以上连续的等距双非均匀有理B样条刀具路径。采用对偶四元数描述五轴刀位，利用对偶四元数 B 样条矢量函数拟合线性刀路，获取五轴联动的刀具 B 样条运动轨迹，插值得到描述刀具中心点和刀轴点运动轨迹的等距双非均匀有理B样条曲线刀具路径。算例表明，采用本算法对工件坐标系中的线性刀路进行光顺，在提高刀具轨迹运动平稳性的同时，可以获得满意的加工精度，适用于五轴高速精密加工。

关键词: 五轴加工|对偶四元数|等距双样条|刀具路径