Feedrate Planning for a Delta Parallel Kinematics Numerically Controlled Machine using NURBS Toolpaths

Abstract

: This paper presents a concept of a computationally efficient feedrate planning algorithm for parallel kinematics machine in a linear delta configuration. Non-Uniform Rational B-Spline (NURBS) polynomial curve is used for toolpath definition which provides a smooth trajectory. The feedrate profile is defined as a jerk limited S-Curve which takes into account limitations stemming from the toolpath curvature and the machine kinematics. The article presents the outline of the method, structure of the experimental station including the real-time control system and preliminary experimental results. Further direction of the research is also described. The proposed method can provide a smooth motion trajectory obtained in real-time with small computational requirements.