本論文提出一刀具指向角速度規劃方法，使角速度於G01單節間得以連續轉接，適用於可自由變換刀具指向的五軸同動CNC工具機。當G01單節需進行路徑插補及改變刀具指向時，傳統作法中，後者的插補會與前者呈線性相依，使空間中的角速度於G01單節間轉接時會出現不連續的情況，此現象反應至實際加工上，除影響加工精度外，也會降低進給機構的壽命。本文即針對上述問題研究解決方案，使空間中之角速度能於G01單節間連續轉接。
文中先透過理論推導及考慮實際應用情況，排除傳統作法中角速度於G01單節間以零速進行連續轉接之方案，接著在多種設計準則權衡下，提出一能獨立於進給速度規劃的角速度梯形加減速規劃方法，其具計算簡單、可適用於多種G01單節條件等特色，且可使角速度於G01單節間連續轉接。另外此規劃方法可在不同G01單節條件下，針對當下情況，智慧性地規劃出不同的角速度曲線。
本論文設計兩包含路徑插補及改變刀具指向之G01單節以進行路徑模擬，可觀察套用本文所提出的角速度規劃方法後，角速度於G01單節轉接處呈連續且角加速度受到適當拘束，對比傳統作法所造成的角加速度上衝，此角速度規劃方法可使機器在G01單節轉接時能平滑地運動。

In five-axis CNC machine tools, the tool orientation is freely programmable. Taking the angular interpolation into account, the conventional method couples the angular feedrate with the linear one for the linear path interpolation. However, this would lead to discontinuities in angular federate, especially at the block transition point. Aiming at making smoother motion during five-axis machining, this thesis presents a method for the angular feedrate scheduling which is independent of linear feedrate acceleration/deceleration and able to ensure a continuous angular feedrate at the block transition point. Additionally, the method features the intelligence for handling some blocks of special conditions. Simulation results proved that the developed scheduling method could make angular feedrate continuous and reduce the angular acceleration at the block transition point.

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