中文摘要：

基于多体系统运动学理论和齐次变换矩阵的应用，结合C-A双摆五轴加工中心，建立了该机床的综合空间误差模型。基于该模型，推导出数控指令的补偿修正算法并开发出了几何误差补偿软件，最后进行测量与补偿试验。试验结果表明：针对C-A双摆五轴加工中心的建模方法可靠，采用的补偿方式有效，实现了误差补偿的目的。

英文摘要：

Based on application of the theory of multi-body system and homogeneous transformation matrices,in combination with the C-A biaxial swinging five-axis machining center,the general volumetric error model of the machine tool was established. On the basis of this model,the algorithm of NC code correction and compensation was deduced,the software of error compensation was developed,and finally the process of error measurement and compensation was carried out. The Experimental conclusions show that the error models aimed at the C-A biaxial swinging five-axis machining center are valid,and the error compensation method is effective,by which the objective of error compensation are achieved.