本文主要研究成果有四：首先定義出可直覺表達切削狀態之刀軸方位參數，以單一方程式描述切削平面上任意切削接觸點與刀尖點間相互對應關係，且該表達式適用於各類型態刀具；其次分別推導出床台與刀具兩端獨立機構鏈之廣義構型運動轉換式，同時完成反向運動學分析獲得五軸工具機內各軸向驅動量；另外以刀具方位與切削平面參數為基礎建構刀具補償法則，使程式編輯者除以傳統刀具補正面外、亦可藉由工件原始曲面執行刀具軌跡生成；最後以解析法推導出製造時相鄰切削點間因刀軸變化、機台構型或工件擺設位置所造成之實際切削誤差量，以做為製程規劃階段決定軌跡仿合與分割精度之設定依據，進而分析CAM規劃與實際切削之加工誤差比較及模擬；期望本文研究成果可應用於製造現場之五軸加工製程，使複雜曲面之產品精度於加工前置階段即得有效掌控，同時做為未來泛用型後處理系統開發之參考依據。

This thesis deals with not only the tool path planning and cutting deviation analysis for sculptured surface machining but also kinematic transformation algorithms for different types of 5-axis machine centers. A generalized expression is presented first to define the cutting contact location for any type of milling tools. The actual cutting contact point and the cutter location can be determined by tool orientation angles. Furthermore, the gouge avoidance criterion is utilized with the admissible tool orientation classification and a localization algorithm is derived to calculate error estimation along tool paths. The inverse kinematics between two independent chains about the tool and workpiece is solved and the tool compensation procedure is established for each 5-axis machine configuration. Computer implementation and illustrative examples are also executed for qualitative and quantitative analysis. The theoretical and practical issues associated with this thesis could help to generate 5-axis CNC tool paths automatically from CAD model and to promote general post-processor developement for futher applications.

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