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中文摘要：
针对精密曲轴磨削（连杆颈）加工中存在的精度问题,利用随动磨削数控机床运动的数学模型推导出理想的砂轮磨削轨迹的求解方程。利用多体系统理论推导出从机床-工件分支与机床-刀具分支的坐标转换方程、曲轴磨削的精密加工方程,进而将随动磨削加工数学模型与多体系统的误差补偿技术相结合,研究了理想数控指令的生成方法,并用精密迭代的方法求解出误差条件下精密加工数控指令。修正后的指令可以在曲轴磨削生产当中保证曲轴（连杆颈）的表面加工质量,达到了精密曲轴磨削的精度要求。
英文摘要：
Focusing on the grinding accuracy of a precision crankshaft （the connecting rod journal）, using the mathematical model of coordinated grinding CNC machine tool motion,the calculation method for ideal grinding tool track has been derived.Using the multi-Body system theory,the coordinate transforma- tion equation from the machine to workpiece branch and from the machine to tool branch has been ac- quired.And then the precision processing equation of the crankshaft has been drawn~The technology of error compensation based on multi-Body system and the mathematical model of coordinated grinding were com- bined together.The calculation methods for ideal NC instructions ,the precision iterative method to solve the instruction were discussed in detail.Revised instruction can guarantee the surface quality （the connecting rod journal） ,and the accuracy of the ~rinding crankshaft can be achieved. ofthe crankshaft
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