To eliminate the disadvantages of linear interpolation and geometry-based smoothing methods, the one-step corner smoothing method with feedrate blending algorithm for linear segments is proposed in this article. In the proposed method, the variable acceleration and jerk optimization method will be first adopted to determine the dynamic performance of each linear segment for feedrate scheduling, which takes the different axial limits into consideration. Then, the feedrate scheduling method based on the S-type acceleration and deceleration algorithm is implemented to generate smooth feedrate profiles. Moreover, the feedrate blending algorithm is adopted to calculate the corner time analytically within the specified corner error and thus to generate the smooth trajectory without inserting a smooth curve at adjacent linear segments. With the presented one-step corner smoothing method, a smoother and more accurate trajectory could be generated with faster machining time. The results of simulations and machining experiments demonstrate the effectiveness of the proposed method.

中文翻译：

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几何和运动学约束下线性段的进给率混合角平滑方法

为了克服线性插补和基于几何的平滑方法的缺点，本文提出了线性段进给率混合算法的一步角平滑方法。在所提出的方法中，将首先采用变加速度和加加速度优化方法来确定进给率调度的每个线性段的动态性能，它考虑了不同的轴向限制。然后，实施基于S型加减速算法的进给率调度方法以生成平滑的进给率曲线。此外，采用进给率混合算法在指定的拐角误差内解析计算拐角时间，从而生成光滑轨迹，而无需在相邻线性段插入光滑曲线。使用所提出的一步拐角平滑方法，可以以更快的加工时间生成更平滑、更准确的轨迹。仿真和加工实验的结果证明了所提出方法的有效性。