Five-axis machining plays an important role in manufacturing by dint of its high efficiency and accuracy. While two rotation axes benefit the flexibility of machining, it also brings limitations and challenges. In order to further balance machining precision and efficiency, an improved feedrate scheduling method is presented considering geometric error and kinematic constraints for the Non Uniform Rational B-Spline (NURBS) interpolation in five-axis machining. A simplification method is proposed to calculate the geometric error which describes the deviation between the ideal tool path and the real tool path induced by the non-linear movement. A linear relation between geometric error and feedrate is built to limit the feedrate. The constraints determined by single axis kinematic performance and tangential kinematic performance are also considered. Under these constraints, a constrained feedrate profile is determined. Aiming to get more constant feedrate in the difficult-to-machine areas, this work proposes a scheduling method which combines morphological filtering and S-shape acceleration/deceleration (acc/dec) mode. Simulations and experiments are performed to compare the proposed feedrate scheduling method with two previous feedrate scheduling method and the results prove that the proposed feedrate scheduling method is reliable and effective.

五轴加工由于其高效率和高精度而在制造中起着重要作用。虽然两个旋转轴有利于加工的灵活性，但也带来了限制和挑战。为了进一步平衡加工精度和效率，针对五轴加工中的非均匀有理B样条（NURBS）插值，提出了一种考虑几何误差和运动学约束的改进进给率调度方法。提出了一种简化的方法来计算几何误差，该误差描述了非线性运动引起的理想刀具路径和实际刀具路径之间的偏差。建立几何误差和进给率之间的线性关系以限制进给率。还考虑了由单轴运动性能和切向运动性能确定的约束。在这些约束下，确定了受约束的进给率曲线。为了在难以加工的区域中获得更恒定的进给率，这项工作提出了一种将形态学滤波和S形加减速（acc / dec）模式相结合的调度方法。通过仿真和实验比较了所提出的进给率调度方法和前两种进给率调度方法，结果证明了所提出的进给率调度方法是可靠且有效的。