Abstract
Manufacturing industries aim to improve product quantity and quality. These trade-off objectives are typically manifested as cycle time reduction and motion accuracy improvement. Corner smoothing approaches that reduce the cycle time of piecewise linear trajectories are proposed in the literature. This study tackles the two objectives by Pareto-optimal corner smoothing with constraints imposed as kinematic limits, continuity conditions and user-specified cornering tolerance. Linear and cornering motions along a contour are respectively described by jerk-limited acceleration profiles and a modified kinematic corner smoothing with interrupted acceleration (KCSIA) approach. A Pareto frontier is generated by the divide and conquer algorithm, where the solution nearest to the utopia point is selected as the best trade-off solution. The effectiveness of the proposed method is validated through experiments, where the best trade-off solution reduces the maximum and average contouring errors by 47.53% and 25.40% while it increases cycle time by 2.53% compared to KCSIA.
Highlights
Manufacturing industries typically use computer numerical control (CNC) machine tools due to their accuracy, repeatability and speed in performing tasks [1]
PARETO-OPTIMAL TRAJECTORY DESIGN A method of generating Pareto-optimal trajectories that provide a compromise between motion accuracy and cycle time for piecewise linear contours is illustrated
The maximum and average contouring errors of each trajectory for all the trials are illustrated in Fig. 11, where it is shown that kinematic corner smoothing with interrupted acceleration (KCSIA)* has a better performance than KCSIA
Summary
Manufacturing industries typically use computer numerical control (CNC) machine tools due to their accuracy, repeatability and speed in performing tasks [1]. Feed drive systems (FDSs) actuate CNC machine tools’ motion axes [2]. Several studies have proposed feedback control structures to reduce tracking [3] and contouring [4], [5] errors in feed drive systems. A Feedback control strategy is proposed in [7] for regulating ship yaw and roll perturbations in 5-DOF offshore cranes. Such proposals are limited by the accessibility of in-service feed drive system feedback controllers
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