Abstract：The trajectory error of the tool center point in a six-axis computer numerical control (CNC) machine tool was minimized by switching the multiple linkage modes. A kinematic model of the six-axis linkage CNC machine tool was used to analyze the redundant linkages and redundant rotational linkages of the machine tool. The redundant linkage characteristics were then used to identify the linkage modes and linkage axes that provided the desired tool motion. A trajectory error model for the tool center point was used to switch the linkage modes and linkage axes to minimize the error. Tests on a CNC machine tool show that the model accurately predicts how to switch the linkage modes to minimize the tool center point trajectory error.
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2019, Vol. 59 
