# US 5,101,147 A · Method of controlling machining speed on involute interpolation

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- Number: US 5,101,147 A
- Document ID: US5101147A
- Status: Granted
- Kind: A
- Application number: 07/582,852
- Filed: 1990-10-17
- Granted: 1992-03-31
- Earliest claimed: 1989-03-13
- Assignees: Fanuc Corporation
- Inventors: Takao Sasaki; Kunihiko Murakami; Masafumi Sano
- Web page: https://patentgrep.com/patent/US5101147A

## CPC

- G05B 19/41: characterised by interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path (G05B19/25, G05B19/31, G05B19/37, G05B19/39, G05B19/40 take precedence)
- G05B 2219/34144: Involute, evolute
- G05B 2219/43129: Speed as function of curvature, in curves, corners smaller than in straight line
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)

## Abstract

An involute interpolation speed control method controls a machining speed during a numerical control machining process with involute curve interpolation. A radius of curvature is determined from equations of the involute curve (S3), and whether said radius of curvature is smaller than a predetermined value is then determined (S4). The machining speed is reduced with an override value if the radius of curvature is smaller than the predetermined value (S5, S6, S7). In the vicinity of a base circle for the involute curve, since the radius of curvature is small, any well machined surface would not be produced at a given tangential speed. Therefore, the machining speed is reduced with the override value in the vicinity of the base circle.

## Claims

### Claim 1

A method of controlling a machining speed during a numerical control machining process with involute curve interpolation, comprising the steps of:
(a) determining a radius of curvature from equations governing the function that describes an involute curve;
(b) determining whether said radius of curvature is smaller than a predetermined value; and
(c) reducing the machining speed with an override value if the radius of curvature is smaller than the predetermined value.

### Claim 2 (depends on 1)

A method according to claim 1, wherein the equations in said step (a) are given by:
X=R{cos.theta.+(.theta.-.theta.1)sin.theta.}+Xo
Y=R{sin.theta.-(.theta.-.theta.1)cos.theta.}+Yo
where X, Y represent a position on said involute curve, .theta. is the angle between an X-axis and a line which interconnects the center of a base circle for the involute curve and a point where a tangential line passing perpendicularly through the point on the involute curve contacts said base circle, .theta.1 is the angle between the X-axis and a line interconnecting a starting point of said involute curve and the center of said base circle, Xo and Yo are the coordinates of the center of said base circle, and R is the radius of said base circle, thereby effecting the involute curve interpolation.

### Claim 3 (depends on 1)

A method according to claim 1, wherein in said step (c), the override value is linearly reduced when the radius of curvature is smaller than the predetermined value, and is clamped to a predetermined lower limit value.