Positioning algorithm for 5-axis machining of ruled surfaces based on radius and angle offset
An analytical model for 5-axis flank milling ruled surfaces tolerance is built considering curvature of the baseline.A new concept angle offset is advanced based on studying the relationship between tool axis vector and gcneratrix,the offset angle evaluate equation is obtained.Radius and angle(RA) offset algorithm is put forward and applied to calculate tool location data for 5-axis flank milling ruled surfaces to improve the error distribution of the whole milled surface and eliminate the tolerance caused by the different direction of the normal vector,which make sure two baseline of the surface machined precisely.The influences of parameters such as length of generatrix,angle of two normal vectors of generatrix end point to the error distribution are analyzed by an example.The error distribution index of radius offset algorithm and RA offset algorithm is contrasted,and the result shows that the latter one has higher precision and sounder process technology.
Abstract This paper describes the analysis and design of a robot platform with two drive wheels, each with an independent steering mechanism resulting in three independent degrees of motion. The kinematic and inverse kinematic analyses are derived in detail. An adaptive controller is designed to compensate for large inertial variations and to satisfy the velocity (nonholonomic) constraints.