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中文摘要：
在充分分析摆头类五轴机床结构特性以及机床运动学误差的基础上，针对机床两旋转轴的旋转中心位置及其方向偏离本来的位置和方向，及主轴旋转中心位置存在偏离的情况，建立了一种CA摆头五轴机床运动学模型。结合特定机床运动及运动学相关理论，提出了一种CA摆头误差校验及自动测量和补偿优化算法，并开发了一种CA摆头五轴机床运动学误差测量系统，根据测量值对机床进行优化，实现并验证了算法的正确性。
英文摘要：
Based on full analysis of the structural properties for the five-axis machine tools of spindle-tilting type and the machine＇s kinematics errors, a kinematics model is established, which considers the problem about deviation of the central rotating location and direction of spindle, as well as the central rotating location of main spindle. Combined with particular machine tool movement and the related kinematics theories, a CA spindle-tilting error calibration, automatic measurement and compensating optimization algorithm is proposed, a measurement system against the CA spindle-tilting machine tools is developed, and optimize the machine with the measured value is optimized, the correctness of this proposed algorithm is implemented and verified.
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