The basic structure of a virtual axis drill grinder is presented in terms of the spatial vectors. Grinding parameters calculated according to the geometry of a helical drill point. The kinematic equations for sharpening the drills on the virtual axis grinder are deduced using the grinding parameters via vector-matrix transformation.

Cutting forces generated using CBN tools have been evaluated when cutting steel hardened to 45-55 HRC. Radial thrust cutting force was the largest among the three cutting force components and was most sensitive to the changes of cutting edge geometry and tool wear. The surface finish produced by CBN tools was compatible with the results of grinding and was affected by cutting speed, tool wear and plastic behaviour of the workpiece material.

建立了6-UPS型并联机构的动力学模型。为了能使动力学模型包含所有构件的重力和惯性力，以6-UPS并联机构的支链为研究对象，运用D-H方法建立了各构件的坐标系，推导了支链的运动学反解的解析方程，并给出了各个构件的速度、加速度与动平台的速度、加速度的映射关系。然后用牛顿－欧拉方法推导了6-UPS并联机构的动力学模型，为支链中各个构件支反力的求解和整个机构的动力学分析奠定了基础。最后以并联机床为例，运用动力学模型进行了实际计算并绘制了连杆驱动力的变化曲线。