浜旇桓绮惧伐姗熷簥鐨勫嫊鎱�(t脿i)鐗规€ф脯瀹氬拰瑾挎暣鏂规硶锛氫簲杌告搴婂皪姗熷簥瑁濆倷鍒堕€犳キ(y猫)鎰忕京闈炲嚒,锛孯TCP鍔熻兘鏄 閲忎簲杌告搴婃€ц兘鐨勯噸瑕佹寚妯欍€傚湪鍩�(zh铆)琛孯TCP閬庣▼涓�,锛岀敱浜庢棆杞夎桓鐨勫姞鍏�,锛岄渶瑕佸皪鐩寸窔杌搁€茶闈炵窔鎬ц鍎燂紝鍥犳鏃嬭綁杌稿拰鐩寸窔杌哥殑浼烘湇鍕曟厠(t脿i)鐗规€ч渶瑕侀€茶娓畾鍜岃鏁�,锛屾墠鑳戒繚璀夊姞宸ュ嫊鎱�(t脿i)绮惧害,銆傛湰鏂囧皪RTCP鍘熺悊閫茶浜嗙啊鍠粙绱�,锛岃ō瑷堜簡涓€绋簲杌稿嫊鎱�(t脿i)绮惧害娓畾绠楁硶,锛岄€氶亷瑭茬畻娉曞皪浜旇桓姗熷簥鐨�5鍊嬩己鏈嶈桓鐗规€ч€茶浜嗗挤寮辨帓搴忥紝寰炶€屽皪浼烘湇鍙冩暩(sh霉)閫茶鍎�(y艒u)鍖栧拰瑾挎暣,銆備互浜旇桓钁夎吉鍔犲伐鐐轰緥,锛屽皣浼烘湇鍙冩暩(sh霉)瑾挎暣鍓嶅悗鎵€鍔犲伐鐨勮憠杓殑鍔犲伐璩噺閫茶灏嶆瘮锛岃瓑鏄庤┎鏂规硶鍙栧緱浜嗚純濂界殑鏁堟灉,銆� 闂滈嵉瀛楋細RTCP,锛涗簲杌稿嫊鎱�(t脿i)绮惧害锛涗己鏈嶄笉鍖归厤搴� Abstract: Five-axis machine is significant for tool equipment manufacturing industry, and the function of RTCP is a very important reference to evaluate the performance of a five-axis machine tool. During the process with the RTCP function turning on, it needs a nonlinear position compensation for the linear axes because of the rotary axes, so the ability of servo following of the linear axes and rotary axes is required to guarantee the processing dynamic precision. In this paper, the principle of RTCP is introduced and a kind of five-axis dynamic precision measurement algorithm is designed. According to the algorithm ,the five axes are ordered, which helps to optimize and adjust the servo parameters . Taking five axis impeller machining as an example, the machining quality of the impellersis compared before and after the adjustment of the servo parameters, and it shows that the better results are obtained. Keywords: RTCP; five-axis dynamic precision; servo dismatching degree 浜旇桓绮惧伐姗熷簥姣斿師鏈夌殑涓夎桓绮惧伐姗熷簥鎿佹湁鏇村鍎�(y艒u)榛�,锛屽鍔犲伐寰╅洔鏇查潰,銆佹笡灏戝姞宸ュ伐搴忓緸鑰屾彁楂樺姞宸ユ晥鐜囥€備絾鏄敱浜庢棆杞夎桓鐨勫瓨鍦�,锛屽湪鍩�(zh铆)琛孯TCP閬庣▼涓�,锛屾棆杞夎桓鍜岀洿绶氳桓鏈冮€茶闈炵窔鎬ч亱鍕曪紝鍥犳闇€瑕佸皪浜旇桓姗熷簥鐨勫嫊鎱�(t脿i)鐗规€ч€茶鎺у埗锛屽叾鍕曟厠(t脿i)绮惧害鎴愮偤褰遍熆鍔犲伐绮惧害鐨勪富瑕佸師鍥犱箣涓€,銆備簲杌哥簿宸ユ搴婂嫊鎱�(t脿i)绮惧害涓昏婧愪簬浼烘湇绯荤当(t菕ng)鍔犳笡閫熼熆鎳夋€ц兘,銆侀浂浠跺彈鍔涜畩褰€€佸垁 鍏锋尟鍕�,銆佷富杌歌綁閫�,銆佹搴婇€茬郸澶у皬绛塢 1[銆傛寜鐓у父瑕�(gu墨)鐨勪己鏈嶅尮閰嶆脯瀹氭柟娉曠劇娉曟簴纰哄皪鐩寸窔杌稿拰鏃嬭綁杌搁€插尮閰�,锛屼簲杌稿嫊鎱�(t脿i)绮惧害娓畾鏂规硶浠TCP鍔熻兘鐗规€х偤鍩虹,锛屽缓绔嬬洿绶氳桓鍜屾棆杞夎桓鑱�(li谩n)鍕曟ā鍨嬶紝閫氶亷娓畾鍚庣殑绲愭灉鐐轰緷鎿�(j霉),锛屼締瑾挎暣浜旇桓绮惧伐姗熷簥鐨勪己鏈嶅弮鏁�(sh霉),锛屼娇浼烘湇绯荤当(t菕ng)閬斿埌鏇村ソ鐨勭媭鎱�(t脿i)锛屽緸鑰屾彁楂樹簲杌歌伅(li谩n)鍕曠簿宸ユ搴婄殑鍕曟厠(t脿i)绮惧害,锛屾彁楂樻搴婄殑鍔犲伐绮惧害,銆� 1. RTCP鍘熺悊浠嬬垂 RTCP鏄疪otation Around Tool Center Point鐨勮嫳鏂囩府瀵紝鍗冲湒1涓垁鍏蜂腑蹇冮粸绶ㄧ▼,銆� 鍟熺敤RTCP,锛屾帶鍒剁郴绲�(t菕ng)鏈冭嚜鍕曡▓绠楀苟淇濇寔鍒€鍏蜂腑蹇冨绲傚湪绶ㄧ▼鐨刋YZ浣嶇疆涓婏紝鍒€鍏蜂腑蹇冨绲傚湪绶ㄧ▼鍧愭绯讳腑,锛岃綁鍕曞潗妯欐瘡鍊嬮亱鍕曢兘 鏈冭绶ㄧ▼鍧愭绯籜YZ鐨勭洿绶氫綅绉绘墍瑁滃劅] 2[,銆備娇鐢≧TCP锛屽彲浠ョ洿鎺ョ法绋嬪垁鍏蜂腑蹇冪殑杌岃贰,锛岃€屼笉鐢ㄨ€冩叜浜旇桓姗熷簥绲愭鍙冩暩(sh霉),锛屽ぇ澶х啊鍖栦簡浜旇桓宸ヨ棟绶ㄧ▼鍜屾彁楂樹簡鍔犵簿搴︺€� 2. RTCP鍕曟厠(t脿i)绮惧害娓畾鍘熺悊 鍦ㄤ笁鍧愭姗熷簥涓�,锛岀稉甯搁噰鐢ㄥ湏搴︽脯瑭� 渚嗘娓换鎰忕洿绶氳桓闁撶殑鍕曟厠(t脿i)鐗规€ф槸鍚﹀尮閰�,锛屼絾鍦ㄤ簲鍧愭姗熷簥閬嬪嫊閬庣▼涓紝鐢变簬鏃嬭綁杌哥殑鍔犲叆,锛屽繀闋堝湪姣忓€嬫彃瑁滈粸灏嶆棆杞夎桓閬嬪嫊鑰屽付渚嗙殑鐩寸窔杌稿亸宸€茶闈炵窔鎬ц鍎�,锛屽洜姝や篃蹇呴爤灏嶆棆杞夎桓鍜岀洿绶氳桓闁撶殑鍕曟厠(t脿i)鐗规€ч€茶浼烘湇鍖归厤銆傜敱浜庢棆杞夎桓鍜岀洿绶氳桓鐨勬帶鍒跺柈浣嶄笉涓€妯�,锛屼笉鑳藉儚鐩寸窔杌搁偅妯ｇ洿鎺ラ噰鐢ㄥ湏搴︽脯瑭�,锛岄噰鐢ㄦ湰鏂规硶锛屽彲浠ュ皪浜斿€嬭桓鐨勫嫊鎱�(t脿i)鐗规€ч€茶娓│鍜屾帓搴�,锛屽緸鑰岀偤浼烘湇鍙冩暩(sh霉)瑾挎暣鎻愪緵渚濇摎(j霉),銆�