本論文提出一刀軸姿態平滑化插補技術，應用於產生平滑的五軸刀具姿態與進給率命令。現今CAD/CAM產出之曲線刀具路徑一般使用大量的微小直線段來逼近曲線路徑，此方法將佔用大量記憶體且大量的微小直線段所造成的頻繁加減速容易激發工具機低頻共振。本文將針對此問題進行研究，擬合方面首先將NX所規劃的刀具路徑檔進行解譯，接著使用雙圓弧弦誤差與一直線弦誤差判斷路徑為單一區塊線段或是一條連續之B-spline曲線，運用Cox-deBoor運算法與高斯消去法和部分軸元法求取控制點；插補方面首先將直線段進行插補，B-spline曲線部分則利用刀具中心點與各軸速度、加速度與急衝度等參數進行S型加減速規劃。將以上兩者結合即可產出一平滑的五軸刀具姿態與進給率命令，最後在一搭配西門子840D sl控制器之五軸工具機上進行渦輪葉片切削實驗驗證，驗證結果為此技術切削時間與西門子840D sl控制器開啟CYCLE832轉角平滑化功能切削時間相近，證明此技術之可行性。

This paper proposes a tool axis posture smoothing interpolation technique, which is applied to generate smooth five-axis tool posture and feed rate commands.Curved tool paths generated by CAD/CAM today generally use a large number of tiny straight line segments to approximate the curved path. This method will occupy a large amount of memory and the frequent acceleration and deceleration caused by a large number of tiny straight segments will easily stimulate the low frequency resonance of the machine tool.In this paper, we study this problem. The fitting aspect first interprets the tool path file planned by NX, and then uses the Bi-chord error and the straight chord error to determine the path as a single block line segment or a continuous B-spline curve. Using Cox-deBoor Algorithm and Gaussian Elimination Method and partial pivoting Method to obtain Control Points.In the interpolation aspect, the straight line segment is interpolated first, and the B-spline curve part uses the tool center point and each axis speed, acceleration and jerk to perform S-type acceleration and deceleration method.Combining the above two can produce a smooth five-axis tool posture and feed rate command, and finally verify the turbine blade cutting experiment on a five-axis machine tool with Siemens 840D sl controller. The verification result shows that the cutting time of this technology is similar to the cutting time of the CYCLE832() corner smoothing function of the Siemens 840D sl controller, which proves the feasibility of this technology.

摘要......i
Abstract......ii
誌謝......iii
目錄......iv
表目錄......vi
圖目錄......vii
符號說明......ix
第一章 緒論......1
1.1 研究動機與目的......1
1.2 文獻探討......1
1.3 研究方法......1
1.4 論文架構......2
第二章 工具機座標轉換......3
2.1 機械座標系定義......3
2.2 齊次座標轉換矩陣......4
2.3 順逆向運動學......6
第三章 刀具路徑規劃......8
3.1 刀具路徑格式......8
3.2 高速設定CYCLE832......10
3.3 渦輪葉片路徑生成......13
第四章 雙雲形曲線擬合......19
4.1 曲線擬合架構......19
4.2 弦誤差......20
4.3 NURBS數學模型......24
4.4 全域擬合......25
4.5 Cox-de Boor演算法......26
4.6 快速高斯削去法......27
第五章 五軸TCP插補與速度規劃......28
5.1 五軸TCP插補架構......28
5.2 進給率限制......29
5.3 曲線幾何計算......30
5.4 S型加減速規劃......31
第六章 實驗結果與探討......35
6.1 實驗架構......35
6.2 雙雲形曲線加工實驗......36
6.3 雙雲形曲線與直線切削實驗比較......37
6.4 刀具路徑速度規劃......40
第七章 結論與未來展望......44
7.1 結論......44
7.2 未來展望......44
參考文獻......45
Extended Abstract......47

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