Kinematics for a six-axis EDM machine by screw theory and its application in feedrate planning in EDM for shrouded blisks

  • Xue-Cheng XiEmail author
  • Hong-Da Liu
  • Hao Chen
  • Long Ye
  • Wan-Sheng Zhao


In multi-axis electrical discharging machining (EDM), to maintain a stable discharging gap, a gap width controller regulates the feedrate of a tool electrode with respect to a workpiece. However, in the existing EDM machine, feedrates in G-codes are computed with an extended linear displacement which takes 1 as 1 mm and does not take the diameters of rotational axes into account. To adjust feedrates with actual distances between an electrode and a workpiece, kinematics from the tool frame to the workpiece frame is needed. In this paper, screw theory is utilized to derive the kinematics of a six-axis EDM machine consisting of three translational axes and three rotational axes. With the rigid transformation of each axis described by an exponential of a twist, the overall kinematics is obtained as a product of exponentials of twists. With the forward kinematics, the feedrate post-processing algorithm (FPPA) is used to plan feedrates in G-code blocks. Experimental results showed that the feedrate planning according to the forward kinematics can reduce the machining time by 23.5% in the EDM for a shrouded blisk. Discharge gap statistics showed that the use of the FPPA algorithm increases the normal discharge ratio.


Kinematics Multi-axis electrical discharging machining (EDM) Feedrate planning 


Funding information

This research is financially supported by the National Natural Science Foundation of China (No. 51675340), National Science and Technology Major Project of China(No. 2018ZX04005001), Shenzhen Basic Research Program (Grant No. JCYJ20170811160440239).


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Copyright information

© Springer-Verlag London Ltd., part of Springer Nature 2019

Authors and Affiliations

  • Xue-Cheng Xi
    • 1
    Email author
  • Hong-Da Liu
    • 1
  • Hao Chen
    • 1
  • Long Ye
    • 1
  • Wan-Sheng Zhao
    • 1
  1. 1.Shenzhen Research Institute, State Key Laboratory of Mechanical System and Vibration, School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghaiChina

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