為提高工具機的加工精度，業界與學術界無不致力於開發新式的工具機機種，用以加工更精密的產品。但若是硬體製造的精度無法超過其本身零件的組裝精度，會使產品的尺寸準確性大大降低，因此為進一步提昇加工精度一般常會使用量測技術來進行工具機的誤差檢驗，但設備昂貴與量測不易則是常見的問題；所以如果先能以電腦軟體來作誤差分析與誤差補償，可省去許多時間及問題，更可降低成本，因此本研究的發展目的即在於此。

本研究的機器構型為五自由度並聯式工具機，首先利用D-H座標轉換矩陣對機構的逆向與順向運動解作推導，並以數學軟體Matlab來作軟體模擬驗證，證明所推導之逆向與順向運動解的正確性。

在第三章的部分則是利用誤差參數的設定來推導順向運動解誤差模型並模擬當機台存在誤差時對刀具端點的影響，並利用此一特性，亦即理想曲面與誤差曲面的不同繪製“曲面誤差圖形”，並比較當誤差參數不同時圖形的差異性，目的是希望對工具機的誤差分佈與實際的工件曲面誤差提供判斷之依據，即可獲知目前機台之誤差大小。

最後的部分是以順向運動解誤差模型為基礎，利用“非線性最小平方法”的運算推估出工具機的誤差參數，然後配合逆解誤差模型進行軟體模擬，並且由模擬出的結果來驗證本研究之誤差補償的效果，期望能藉此改善工具機的精度。

In order to improve the precision in machine tool, the industry and academia make efforts in developing new types that can work more accurate. If the assembly accuracy can’t outstrip the working accuracy, it will reduce the product’s dimensions greatly. On purpose of increasing working accuracy, we usually use measurement technology to inspect errors on machine tool. But the common problems are that expensive equipments and not easy to measure. Instead of measurement, we can use computer software on error analysis and error compensation to save time and lower the cost. That’s the purpose of this research.

A XYZA-C five D.O.F. parallel kinematics machine tool is built for this research. First, we use D-H notation to derive inverse and forward kinematic solutions. At the same time we use math software simulation to demonstrate the correctness of inverse and forward kinematic solutions.

In chapter three, we use the setting of error parameters to derive the forward kinematic error modeling and simulate the effects on end of tool when errors on machine tool. Using the differences of ideal surface and error surface to draw ‘error surface’. And compare the variation in different error parameters. The goal is to get error distribution and a basis of judging actual error surface. So we can get the error quantities on machine tool.

In the end of this research, it is base on forward kinematic error modeling and adopted nonlinear least-square method to compute error parameters. From the result of simulating error compensation cooperate with inverse kinematic error modeling, so as to improve accuracy on machine tool.

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