Minimum-Time Motion Planning for Iso-scallop Trajectories on Smooth Manifold Surfaces

For the merits of iso-scallop trajectories on smooth manifold surfaces, i.e., high efficiency, longer element and few elements, S-Curve profile is employed to realize minimum-time motion planning in the paper. First of all, the trajectory models of line segment, circle segment and NURBS segment are discussed. Next, the acceleration, velocity and displacement equations of S-curve profile are described with piecewise integrations. For the length of trajectories is predetermined by the cutter location files, the minimum-time motion planning has changed to find feasible and highest velocities limited by the trajectory curvature of each element, connections between trajectories and properties of machine tools. Thirdly, a time model software Time Model App is developed to encapsulate the complex motion planning process and predict the machining time. The prediction is better in calculation accuracy and versatile in the element types than the reported Kim model.