关键词: 轨迹规划, 无干涉, 多主轴头加工, 遗传算法, 最短路径

Abstract: Aiming at the need to manually plan empty run during multi-spindle 5-axis processing,an automatic empty run trajectory planning method was put forward.On the basis of multi-spindle machine tool kinematics modeling,aiming at the cutter location point trajectory and generating of tool axis vector,the cutter location point trajectory based on shortest path and collision-free tool axis vector planning were proposed respectively,so that the empty run planning was converted into a parameter-optimization problem.To simplify collision detection,a two-level intersection detection algorithm was proposed.The objective function of empty run planning was established by weighting coefficient method,and it was solved by genetic algorithm,so that a flexible ideal trajectory with no collision,shortest movement time,smallest change of rotation axis angle and shortest ending-trajectory was planned.In the simulation platform established by Vericut,the feasibility and effectiveness of the method had been verified.The empty-run trajectory planning for complex work-piece could be realized by decomposing trajectories and calculating intersections with work-piece edge for many times.

Key words: trajectory planning, non-interference, multi-spindle processing, genetic algorithms, shortest path