本研究以六連桿平行滑動機之構型為基礎，設計一由可動板、六支雙球連接桿以及固定板組成之六維運動量測裝置。可動板上有六組固定之球軸承座，固定板上則有六組可線性滑動之球軸承座。連接桿為兩端裝有精密量測球之固定長度雙球桿，兩端分別安裝於可動板與固定板上之球軸承座。量測時，可動板固定於工具機之主軸端，固定板則安裝於工作台之上。工具機主軸之運動將依序帶動可動板、雙球連接桿與固定板上球軸承座移動，藉由回授固定板上球軸承座之位置，配合機構正、逆轉換，即可計算出可動板相對於固定板之位移與轉動量，同時也為工具機之主軸相對工作台之位置與指向，達到工具機上六維運動直接量測之目的。

本研究首先推導出HexaM六維運動量測裝置之機構轉換方法與量測空間計算方式，並在滿足環境限制的條件下，選出工作空間最大之機構參數組合，包括可動板上六組球軸承座之位置、雙球連接桿之長度以及固定板上球軸承座之配置。並依照這些機構參數進行六維運動量測裝置之實體設計與製造。此六維運動量測裝置之計算模組以C語言實現，藉由回授固定板上球軸承座之位置，計算出可動板相對於固定板之相對位置與旋轉角度，亦即刀具相對工件間之相對位置與指向變化，達到量測之目的。

This project design a six-degree motion measurement device based on hexaslide mechanism, which consists of a mobile platform, six link bars of high precision measuring balls installed on the both end, and a fixed base. The base is mounted on the work table. And the mobile platform is fixed on the main spindle and connected with the ball bearing sockets on the base by the link bars. When the spindle and the mobile platform move, the ball bearing sockets on the base will be driven by the six link bars and moves on the linear guides. By feedback the position of the sockets and pass them into kinematic transformation, the relative position and orientation between the platform and the base can be derived, and this is also the relationship between the main spindle and the table where the workpiece is mounted.

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