船舶广义升沉（升沉、横摇、纵摇）运动补偿平台是大洋采矿系统的耋要组成部分。按照大洋采矿补偿系统的要求，采用单位四元数变换方法，提出了一种新型的基于并联机构的补偿平台。针对由两个3-UPU构成的串并联混合并联机构，进行了工程可行性分析，指出了在确定的广义升沉运动参数下，影响并联机构尺寸规格的主要参数，提出了油缸行程和最小连杆长度的极限相贯线概念的优化原理，并进行了实例计算。

本文提出的“直线刃法”，将渐开线齿形的成形过程看作是直线刃与工件（或刀具）运动的线性组合，它可用来分析各种轮齿成形原理，概念清晰、简明，澄清了传统齿轮加工分析中的一些含混概念，本文还对近年来国内外广泛研究、应用直线刃刀片加工齿轮的方法进行了归纳分析，从理论上提出了一种新的齿轮加工方法-径向切齿法。

The kinemati caccuracy between axes is very important when an NC machine tool performs a contouring cut. This paper describes a theoretical and experimental investigation in which undesired kinematic errors were reduced by means of a mi croprocessor-based control scheme. A theoretical model representing the relationshiP between the dynamic behavior and the controller performance 1n one axis was first developed and then extended to two-axis contouring operations. Based on these elationships, either a closed-Joop proportional (P) or proportional-integral (PI) controller can be optimally designed to manlpulate the machine tool feed drive system to achieve high preci sion. Experiments were performed on anexi sting three-axis NC milling machine that verified the concepts introduced in this paper. The analytical controller design and implementatlon procedure are also detaled in this paper.

A microcomputer-based forecasring technique for compensating leadscrew drive kine-matic errors by the DDS(Dynamic Data Systems)approach is proposed in this paper, The kinematic error of a particular leadscrew drive system was described by an ARMA(16，15) model. In order to facilitate on-line compensation, an AR (9) model was fit instead of the ARMA model, Both models revealed the same dominate error components and have similar spectral plots, Experiments were conducted on a Giddings & Lewis Model IOV Numericen. ter. The re-suits show that the cumulative pitch error can be reduced some 80 to 90% through compen-satlon at lower feedrates of the table and about 50% at the higher feedrates using the forecasring technique.

A practical way to achieve machine tool drive system accuraey is througn corn-pensation in the position control loop. various strategies have been deueloped inwhich the compensation data are stored either in a'computer or by aiternattve techniques. The approach described in thispaper demonstrates how the dominant causes of the inaccuracies in machine tool drive systems cart be determlned in a simple and straightforward manner and how the compensation ta can be generated using a microprocessor-based calibration technique. The proposed method was demonstrated On a Giddings & Lewis Mode, 10V Numericenter and consists of three major steps: accura measurement, 21 error-map represen-tation, and3、error-mmap analysis anderror cause diagnosis. Accuracy measurement was accomplished by reading both the resolver counts and the output of a laser interferometer which serifedas a reference (master) scale. The heprocedure is basea on a strategy in which smal, 0.5mm(0.020 in.), highly accurate±2.5 tan (4±0.0001 in.)linear displacements ofthe machine tool table motion are taken as the measurement reference. An ARMA (Autoregressive Moving Average) model of order (16,/5) isthestatistically adequatemode, thatfitthedata of the Pangular displacement of theresolver. TheDynamicDataSystem techniquewasused, this purpose and it can also be used to represent the error-map function. A spectral analysis of the ARMA model revealed the sources of the kinematic errors

Conventional CNC circular interpolation algorithms are based on interpolating the next value according to the present value, regardless of the particular pulse increment method or data sampling method. In this paper, a new theory and algorithm for any space circular interpolation in a CNC system, called three-point recursion interpolation (TPRI) is proposed, which makes a breakthrough from the conventional interpolation algorithms and which is based on a two-step recursion scheme. The proposed algorithm improves not only the interpolation accuracy, but also the interpolation process, which is carried out by the recursion method based on initial values. The interpolation is easily done by the operations of adding and bit shift without multiplication or division. Thus, compared with the existing space circular interpolation methods, by means of the new algorithm, the computing size is remarkably decreased and the calculation speed is increased greatly, SO that the interpolation process may be enhanced strongly. The interpola-tion step is selected according to the tolerance of a segment of a circle. Also, the interpolation stability of this recursion algorithm is proven and the interpolation error and theoretical machining error are estimated in this paper.

本文根据数据拟合曲线的外延特性和勒让德多项式的正交性，提出了离散勒让德多项式序列（Discrete Legendre P0lynomial series，简记为DLPs，以下同）预报控制原理，给出了DLPs的一系列性质和实时在线递推预报算法，其计算量远远小于已有各种方法，解决了预报控制的实时性问题。经实验和生产现场验证，这一预报原理与算法具有很好的控制效果。

介绍了利用国产化设备实现胶鞋大底模具计算机辅助设计/计算机辅助制造一体化技术。采用直线和圆弧作为基本元素进行计算机辅助设计胶鞋模具，几何信息可直按应用来进行数控加工。两级计算机间采用直接通讯而无需纸带，磁带等中介物，这一实用的工业技术，将可解决大部分胶鞋大底模具生产的自动化问题。