| Summary: | 碩士 === 國立成功大學 === 機械工程學系專班 === 91 === With the swift progress of the new manufacturing technology, the geometry of industry product is increasingly complicated and changeable. Hence, the demand from manufacturing for various types of tools is escalated. In order to make the best use of multi-axis tool-grinding machine for tool grinding, this thesis will investigate the forward and inverse kinematics and error analysis of a 6-axis CNC tool-grinding machine from Ewag, Swissland.
In this thesis the forward and inverse kinematics of Ewag CNC 6-axis tool-grinding machine are presented by using homogeneous transformation matrices. The inverse kinematics equations are then differentiated to obtain the differential changes of its pose matrix. Numerical method is employed to verify the validity of the developed model. Finally, the first order error of that machine due to links’ geometrical and kinematic errors are studied. The forward and inverse kinematics will be the foundation of NC programming for tool grinding processes. Error analysis can offer users more understanding of that machine’s capabilities.
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