應用五軸工具機可滿足加工航太、汽車與鑄造產業中，具高精度且形狀複雜零件之需求。雖然五軸工具機具備提升加工效率，減低生產成本以及縮短產品上市時間等優點；然而，相較於一般三軸工具機多了另外兩旋轉軸，亦增加了組裝誤差項。
由於以往有關五軸工具機之組裝誤差研究缺乏針對一般化構形進行探討，故其研究成果較難應用於不同構形工具機之研究。本論文針對靜態誤差中的組裝誤差進行分析，所提出的方法論可應用於一般化正交型五軸工具機。透過正逆向運動學，建立考慮組裝誤差項之五軸工具機體積誤差數學模式，藉以分析組裝誤差項對刀尖點位置誤差之影響。本論文亦針對線上量測設計一組量測位置，透過線上量測探針取得誤差辨識所需之量測資料。本論文採用之量測方法由於不受限於高階控制器與特殊量測儀器，因此有應用門檻較低的優勢。本論文應用線性最小平方估算法(Linear Least Square Estimation)進行誤差辨識，並探討誤差辨識會遭遇的線性獨立問題；誤差補償則透過一般化後處理方法進行。透過虛擬工具機模擬系統，驗證了補償後的數值控制檔可有效降低由組裝誤差造成的刀尖點位置誤差。本論文所提出對於誤差分析、誤差量測、誤差辨識與補償之方法論，由於考量了不同構形特性進行發展，故可與虛擬工具機模擬系統進行整合，使虛擬工具機模擬系統具備體積誤差分析之能力。

Many parts used in the aerospace, automobile, and casting industries have high-precision complex shapes for which five-axis machine tools are required. Although five-axis machine tools improve machining efficiency, reduce production expenses, and shorten time to market, their extra rotary axes lead to more error terms. Although a large number of studies have been conducted on geometric errors, little is known about the influence of assembly errors on volumetric error.
The results of existing studies are difficult to apply to diverse machine tools due to their lack of consideration of universal configurations. This dissertation focuses on analyzing assembly errors belonging to the category of static error. The proposed methodologies can be applied to general orthogonal configurations. The bi-directional kinematics for five-axis machine tools with assembly errors is developed to investigate the effect of assembly errors on position errors of tool center point (TCP). A series of inspection points are designed for on-line test with touch probe, by which the measurement data for error identification can be obtained. The benefit of adopting proposed inspection method is low practice threshold, because the high-end controllers and specialized inspection equipments are not necessary. Linear least squares estimation is used for identifying the individual error terms. And the linear dependence issue about error identification has also been explored. Then, the volumetric error is compensated by a universal post-processor. The simulation through virtual machine tool verifies that the TCP errors can be reduced substantially using the numerical control file with compensation for diverse configurations. An on-line test was implemented to verify the feasibility of the proposed assembly errors compensation scheme.
Proposed methodologies for error analysis, inspection, identification and compensation can be well integrated with virtual machine tool simulation system, because of universal configuration consideration for system development. Therefore, the virtual machine tool simulation system can have the capacity of assembly error analysis.

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