Three-axis CNC machining feedrate scheduling based on the feedrate restricted interval identification with sliding arc tube

In the computer numerical control (CNC) machining for free form surfaces, the time-optimized and smooth feedrate profile plays an essential role in the high-speed and high-precision machining. For the traditional feedrate scheduling method (e.g., the “bang-bang” control method), there may be many fluctuations in the planned feedrate profile, especially in region of large curvature, which results in poor quality of machining surface. To address this issue, a novel concept called sliding arc tube (SAT) is proposed in this paper, from which the trajectory is partitioned as feedrate restricted intervals (FRIs) determining the target feedrate and the positions of tool acceleration and deceleration on the tool path. The SAT is built based on the local geometric information of tool paths. As the SAT is constructed in the tube-shaping process and then sliding on the tool path and finally blocked by it, the breaking point for generating the FRI is found on the trajectory curve. For the proposed FRI identification method, it is computational efficient and it can be implemented in the real-time manner in the CNC controller. Results from both simulation and real machining experiments validate that, with the proposed SAT, the FRIs can be precisely and efficiently identified for the given trajectory curve, the frequent acceleration and deceleration of machine tool is alleviated, and the machining quality can be improved in this way.