Jerk Limited Feedrate Profile Optimization for Nurbs Toolpaths in Cnc Machines with H-Bot Kinematics

ERWIŃSKI, Krystian; USTASZEWSKI, Patryk

doi:10.2478/ama-2025-0075

Figures & Tables

Schematic of Cartesian gantry (a) and H-Bot gantry (b) CNC machines (M – motor, P-passive pulley, q1,q2 – H-bot motors, X1,X2,Y – cartesian gantry motors, X,Y-Cartesian axes)

NURBS toolpath (blue) with control points (red circles) and control polygon (red dashed)

Block schematic of the feedrate optimization algorithm

Fig. 5.

S-curve jerk limited feedrate profile (T1-T7 – durations of each profile segment)

Picture of the experimental setup with the H-Bot CNC machine

Block schematic of the H-Bot control system

Fig. 8.

Initial S-curve Feedrate profile with chord error feedrate limit (dashed line) and axial velocity, acceleration and jerk profiles for both axes - “flower” NURBS toolpath

“Flower” NURBS toolpath. The curve color indicates the feedrate in mm/s

Fig. 10.

Feedrate profile and axial velocity, acceleration and jerk profiles for both axes - “flower” NURBS toolpath

Drive current and following error in X and Y axes.

Jerk Limited Feedrate Profile Optimization for Nurbs Toolpaths in Cnc Machines with H-Bot Kinematics

Figures & Tables

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Paradigm

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