It has broad application prospects in the processing of complex shapes. However, the current virtual axis machine Tools are mostly six rods. It has the disadvantages of strong motion coupling, high manufacturing precision requirements and small working space. The three-bar three-degree-of-freedom developed by Northeastern University Based on the prototype of the virtual axis machine tool, a new three-bar five-degree-of-freedom virtual axis machine tool has been developed, which combines the advantages of high rigidity, high speed, large working space and high flexibility of the series mechanism. The five-axis NC machining mathematical model of the machine tool is simple and easy to realize real-time control of the machine tool. In addition, the kinematics positive solution and the Jacobian matrix which are closely related to the dexterity analysis, speed analysis and error compensation of the machine tool are given. The axis machine tool can realize the five-axis machining of complex shape, and the application prospect is broad. Since the cutting speed of the bottom end of the ball cutter is very small near the center of the rotation and the chip pocket is shallow and the rake angle is negative, the cutting conditions of this part are very Poor, in the actual production, the bottom end of the ball cutter is a plane. For the five-coordinate machining, the angle H3 between the tool axis and the surface normal vector at the cutting point should be large. A certain value, such as the angle C/2 of the bottom surface of the ball cutter, is processed by a part with a large cutting speed. Therefore, it is determined that the tool axis is in the plane defined by n and F and the angle with n is H3, and the auxiliary coordinate system o5-x5nz5 is established, wherein Z5=F@n,x5=n@z5, the direction vector of the tool axis in the coordinate system o5-x5nz5 is (Finish)
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