,,

400030
:,,,
,

:, 8
,
:;;;

:
TH132.
429DOI:
10.
3969/
i
s
sn.
1004-132X.
2012.
16.
001
j.
S
t
udyonToo
t
hPr
o
f
i
l
eo
fP
l
ana
rEnv
e
l
op
i
ngCr
own Wo
rm
ChenYonghongZhangGuanghu
iChenB
i
ngku
i
S
t
a
t
eKeyLabo
r
a
t
o
r
fMe
chan
i
c
a
lTr
ansmi
s
s
i
ons,
Chongq
i
ng Un
i
ve
r
s
i
t
Chongq
i
ng,
400030
yo
y,
,
Ab
s
t
r
a
c
t:Aimi
nga
tanewt
eo
f
l
a
n
a
re
n
v
e
l
o
i
n
c
r
o
w
n
w
o
r
m
a
m
a
t
h
e
m
a
t
i
c
a
lm
o
de
lo
ft
he
yp
p
p g
;
,
t
e
e
t
hsu
r
f
a
c
ewa
se
s
t
ab
l
i
shedba
s
edont
het
heo
r
fge
a
rme
sht
het
oo
t
hp
r
o
f
i
l
ewa
sana
l
ed name
l
yo
yz
y
t
os
t
udyt
hel
awso
ft
hepa
r
ame
t
e
r
sont
oo
t
hunde
r
cu
tandsha
rpened mi
dd
l
et
oo
t
h.A me
t
hod wa
s
e
s
en
t
edt
oequa
l
i
z
et
heg
r
i
nd
i
nga
l
l
owanc
e.As
amp
l
ewo
rkp
i
e
c
ewa
s manu
f
a
c
t
u
r
edbyt
heNCt
o
pr

r
o
i
da
lwo
rm ma
ch
i
newi
t
ht
het
heo
r
ff
i
c
t
i
t
i
ousc
en
t
e
rd
i
s
t
anc
e,
andt
hep
r
o
f
i
l
ea
c
cu
r
a
c
st
e
s
t
ed
yo
y wa
bycoo
r
d
i
na
t
eme
a
su
r
emen
t.
Theva
l
i
d
i
t
e
a
s
i
b
i
l
i
t
ft
heop
t
imi
z
ed me
t
hodwe
r
ep
r
ovedbyc
a
s
e
yandf
yo
s
t
ud
i
e
s,
andt
hes
amp
l
ewo
rkp
i
e
c
ega
i
ns8g
r
adep
r
o
f
i
l
ea
c
cur
a
c
Thes
t
ud
i
e
ss
o
l
vet
hec
ruc
i
a
li
s
sue
s
y.
,
onde
s
i
f
a
c
t
u
r
eandt
e
s
to
ft
hep
l
ana
renve
l
op
i
ngc
r
ownwo
rm.
gn manu
:
;
;
Ke
w
o
r
d
s
c
r
o
w
nw
o
r
m
t
o
o
t
h
r
o
f
i
l
es
t
u
d
r
o
c
e
s
s
i
n
r
i
n
c
i
l
e;
t
e
s
t
i
ng me
t
hod
p
y
p
gp
p
y

,
[
1]

,
,;

1.
1

[6]

, [23]

[
4]

, 1 ,
m (
omxmymzm )

n(
onxnynzn),1(
o1x1y1z1)

,,

[
5]

,
:
20110601

: (
2006BF01B01-3);
(
50805148)

1891

 23 16 2012 8

2(
o2x2y2z2)
,
p(
opxpypzp)
a ,
rb
,
,
1
2
,i21 =2/1 ,
1
2

, 2 ;,

1
a(mm)

rb(mm) r1(mm) Sa(mm) l(mm)

Z2

100

60

45

30

6.
8

70

1
nx1 =cos
i
n
i
n
i
n
1s
2cos
-s
1s

(
1)

ny1 =s
i
n
i
n
i
n
1s
2cos
+cos
1s

nz1 = -cos
2cos

= us
i
n
rbs
i
n
s
i
n
cos
2 + (
-v)
2 -

(
2)

i21ucos
i
n
-as

,
u
v

x1 = (
c
o
s
u+cos
i
n
1cos
2 )
1s
2rb -cos
1a-

(
)

c
o
s
s
i
n
s
i
n
i
n
c
o
s
v
+s
1
2
1

s
i
n
u+s
i
n
i
n
i
n
y1 = (
1cos
2 )
1s
2rb -s
1a(
)
s
i
n
s
i
n
s
i
n
o
s
c
o
s
v
1 2 -c 1

z1 = (
s
i
n
u+ (
c
o
s
i
n
v-cos
2 )
2s
)
2rb
=0

3)
(

, ,
,

,,
,

= t + v

- v

,,
,

z1 x1

,
3a , (
oxyz )

x =z1

(
i
n
5)

y =x1cos
+y1s

z =-x1s
i
n
+y1cos
=0

a Rj 3b,

[6]
(
12) (
12)
px
p
y

1.
3

, , ,

1.
2
,

(
12) (
12)
p
y
px

=0

2
2
x + (
a+y )
= Rj

(
6)

(
4)

(
(
(
12)
12)
12)
,
t ;
vpx
vpy
px

(
12)
py p

xp yp

(
3) (
4)

,
,

Fr,
,,

1 ,
Z2 ,
r1
,
Sa ,
l
1
,:
Z1 ,
1892

(
a)

(
b)

(
5)(
6)
Rj ,
S

,:,,

4 ;

6 , a

Z2 rb

mij

nij

f
r
Sij = Rj{
r
c
c
o
s(
rb/Rj)2i -2i +a

/Rj]}
a
r
c
c
o
s[(
rb +rb -a0s
i
n
2i)
r

(
7)

(
7), Rj

2.
1

f
r
2
i 2
i Rf Rj
r
r
r
f
f
f
Ra,
Rf
2s 2i 2e,
2s 2i 2e,

Ra ,

2s
2e
2s
2e

,
, [7]
5 , T ,
C
,
O ,
L

XY A
,
B
, C

o2 C L
C O , =
2 , X
Y
A
B

S=

k1

k2

1
Sij
k1k2
i=1 j=1
k1

(
8)

k2

1
2
D(
S)=
(S-Sij )
k1k2
i=1 j=1

(
9)

,
k1
k2

,
,:
F(
a,
Z2 ,
rb)= mi
n{
1S +2D(
S)}

2.
2

,
, , ,

,
1 2

(
10)

,
:
Sij > Smin

,
Smin

(
11)

1,Z1 =1

=8
,

Smin =0
2mm
1 =0
1
2 =0
9,
, 2
1893

 23 16 2012 8

3
,

x y
Sij ,
7

a(mm)

[810]

rb(mm)

Z2

63.
738

47.
159

S)
S(mm) D(
0.
054 0.
393 0.
016
0.
033 0.
297 0.
004
F

3.
1

,,

104.
663

(mm)
0.
679
0.
293

3.
1.
1

,,
[8]

(
x,
z,
),x ,=k30 ,
y,

,
k3
0

3.
1.
2

,
,

, [1115],

(
a)

,,

3.
1.
3

(
b)

xq
nx1
1 = x1 +R

7 ,
,
,;
,

y1 = y1 +Rny1
q
1

z = z1 +Rnz1

(
12)

,
R

3a,

x = zq
1

2.
3

i
n
y = x cos
q +y s
q

t
q
z = -xq
i
n
1s
q +y1cos
q =0

q = q0 +k30
t

GWNC4-A , ,
,
8a;

, 8b , 8c
:,
,

q
1

q
1

(
13)

,
q0

(
x,
z,
)
y,
a
a
a
a
(
x ,
z ,
), ,
z =0
y ,
3b ,
W =

x -x
t
a
x -x

t
a 2
t
a 2
(
x -x )
14)
+(
y -y ) (

t
t
(
14),
x y (
6)(
13)

, q0 ,:
(
a)

(
b)

(
c)

1894

k4max

F(
n W 2
q0 )= mi
k4=1

(
15)

,
k4 ;
k4max
;
W

q0 , (
14)

3.
2
MC1066H
FG1520
,
R=0
4982mm, 9a

,,

, x
y

z ,
9b,
,z ,

k4

x(mm)

y(mm)

z(mm)

106

10.
6956

141.
4229 165.
5514

108

10.
6959

148.
2884 164.
3633

107
109
110
111
112
113
114
115
116
117
118
119
120

10.
6962
10.
6961
10.
6958
10.
6955
10.
6957
10.
6955
10.
6961
10.
6958
10.
6961
10.
6954
10.
6961
10.
6959
10.
6961

(
)

144.
9424 164.
9243
143.
7654 152.
5224
147.
5672 151.
5120
150.
8090 150.
6460
144.
2854 139.
5087
148.
0485 138.
1045
151.
3453 136.
8713
144.
0801 126.
2413
147.
4943 124.
5676
150.
6736 123.
0064
142.
2734 113.
2090
145.
5357 111.
1690
148.
6658 109.
2092

140
140

W(
m)
7
1

140

-6

140

-12

140

-9

140

25

140
140
140
140
140
140
140
140
140

-5
8

12
30
32
38
39
36
31

;,

;,

[
1] .

, x
,
; 0 =20
,
,

[
R].:,
1965.

[
2]Go
l
d
f
a
r
b VI.Wha
t WeKnowabou
tSp
i
r
o
i
d Ge
a
r
s

[
//TheI
C]
n
t
e
r
na
t
i
ona
lCon
f
e
r
enc
eon Me
chan
i
c
a
l

Tr
ansmi
s
s
i
on.
Chongq
i
ng,
2006:
12

19.

[
3]L
i
t
v
i
nFL,
Ege
l
aA M,
Donno M D.
Compu
t
e
r
i
z
ed
j

Dede
rmi
na
t
i
on o
fS
i
ngu
l
a
r
u
t
ue
s and Env
l
ope
st
o

Fami
l
i
e
so
fCon
t
a
c
tL
i
ne
son Ge
a
rToo
t
hSu
r
f
a
c
e
s
[
J].Compu
t
e
r Me
t
hodsi
n App
l
i
ed Me
chan
i
c
sand

Eng
i
ne
e
r
i
ng,
1998,
158(
1):
23

34.

[
4]L
i
t
v
i
nFL,
Donno M D,
L
i
anQimi
ng,
e
ta
l.
Al
t
e
r
na

t
i
ve App
r
oa
chf
o
r De
t
e
rmi
na
t
i
on o
fS
i
ngu
l
a
r
i
t
f
yo

Enve
l
opt
o a Fami
l
f Pa
r
ame
t
r
i
c Su
r
f
a
c
e
s[
J].
yo

Compu
t
e
rMe
t
hodsi
nApp
l
i
ed Me
chan
i
c
sandEng
i

(
a)

(
b)

,
4
, 8

(
1),

,,

(
2)

(
3)

,
,

ne
e
r
i
ng,
1998,
167(
1/2):
153

165.

[
5]Saka
iT,Mak
i M.AnI
nve
s
t
i
t
i
onon Se
c
onda
r
ga
y

Ac
t
i
ononSkew Ge
a
r
s[
J].ASMEJ
ou
r
na
lo
fEng
i

ne
e
r
i
ngf
o
rI
ndus
t
r
1974,
96(
1):
25

32.
y,

[
6] , . Bax
t
e
r

[
J]. ,
1983(
2):
1

12.

[
7] , . :
,
CN1907615A[
P].
2007

02

07.

[
8] ,, .

[
J]. ,
1997,
33

(
1):
59

65.

[
9] ,, .

[
J]. ,
2009,
20(
15):
1799

1801.

[
10]Go
chaG.
Ge
a
rMe
t
r
o
l
ogy[
J].
CIRP Anna
l
s-Man

u
f
a
c
t
u
r
i
ngTe
chno
l
ogy,
2003,
52(
2):
659

695.

[
11] , , .
[
J].,
2010,

1895

 23 16 2012 8

1 1 1 1 1 2 2
1.,,
2100162.,,
100081

:,
,
,,
,,
,,,
:;;;

:
R783.
3;TP391.
73DOI:
10.
3969/
i
s
sn.
1004-132X.
2012.
16.
002
j.
Con
t
ou
r-pa
r
a
l
l
e
lOf
f
s
e
tTo
o
l-pa
t
hLi
nk
i
ngwi
t
hou
tTo
o
l-r
e
t
r
a
c
t
i
on
DongGuang
l
e
i1 Da
iNi
ng1 YangFeng1 Han Houn
i
an1 GuoBaosu1 Wang Yong2 LPe
i
un2
j
1.
Nan
i
ng Un
i
ve
r
s
i
t
fAe
r
onau
t
i
c
sandAs
t
r
onau
t
i
c
s,
Nan
i
ng,
210016
j
yo
j
,
2.
Pek
i
ng Un
i
ve
r
s
i
t
S
c
h
o
o
l
a
n
dH
o
s
i
t
a
l
o
fS
t
o
m
a
t
o
l
o
B
e
i
i
n
100081
y
p
gy j g,
:
(
)
Ab
s
t
r
a
c
t Con
t
our- pa
r
a
l
l
e
lo
f
f
s
e
t CPO t
oo
lpa
t
h wa
sus
ed wi
de
l
nt
her
ough ma
ch
i
n
i
ng
yi
oc
e
s
sf
o
rden
t
a
lr
e
s
t
o
r
a
t
i
on.I
no
r
de
rt
omi
n
imi
z
et
henumbe
ro
ft
oo
l-r
e
t
r
a
c
t
i
onswh
i
chd
i
dno
tc
on
pr

t
r
i
bu
t
et
ot
hea
c
t
ua
lcu
t
t
i
ngandop
t
imi
z
et
hel
i
nksbe
twe
ent
oo
lpa
t
hl
oops(
TPLs),aCPOt
oo
lpa
t
h
/ch
l
i
nk
i
nga
l
r
i
t
hmba
s
edons
i
ng
l
er
oo
tTPLst
r
e
eda
t
as
t
ruc
t
ur
ewa
sp
r
e
s
en
t
ed.Wi
t
ht
hepa
r
en
t
i
l
d
go
,
,
r
e
l
a
t
i
onsh
i
i
l
tdu
r
i
ngt
hec
a
l
cu
l
a
t
i
ono
fTPLs as
i
ng
l
er
oo
tTPLst
r
e
ewa
sc
ons
t
ruc
t
ed andt
heni
t
pbu
wa
sd
i
v
i
dedi
n
t
o manysub
t
r
e
e
sa
c
c
o
r
d
i
ngi
t
st
opo
l
ogy,a
sar
e
su
l
ta
l
lTPLswe
r
esp
l
i
ti
n
t
os
eve
r
a
l
r
oupedTPLs.TPLsi
ne
a
chg
r
oupwe
r
el
i
nkedbyl
i
nk
i
ngpo
i
n
tpa
i
r
s.F
i
na
l
l
oo
lpa
t
hwi
t
h
g
y,aCPOt
ou
tt
oo
l-r
e
t
r
a
c
t
i
onc
anbegene
r
a
t
edbyt
r
ave
l
i
ng TPLst
r
e
e.Seve
r
a
lt
e
s
t
i
ngr
e
su
l
t
sshowt
ha
tt
h
i
s
me
t
hodc
anob
t
a
i
nCPOt
oo
lpa
t
hwi
t
hou
tt
oo
l-r
e
t
r
a
c
t
i
one
f
f
e
c
t
i
ve
l
y.
Ke
r
d
s:
t
oo
lpa
t
ht
opo
l
ogy;t
oo
lpa
t
h wi
t
hou
tr
e
t
r
a
c
t
i
on;t
oo
lpa
t
ht
r
e
e;den
t
a
lr
e
s
t
o
r
a
t
i
on
ywo
ma
ch
i
n
i
ng

(
CAM)

, [1]

, CAM

5mi
n ,

CAM

CAM ,
,

:
20110512

(H201034);

()

: (
2009BAI
81B02);
(
2010-WS081)

, ( )

21(
9):
1018

1021.

[
12] ,,, .

[
15]L
i
angShuh-Ren,
L
i
n A C.
Pr
obe-r
ad
i
usCom
a
t
i
onf
o
r3D Da
t
aPo
i
n
t
si
nRe
ve
r
s
eEng
i
ne
e
r
pens

[
J]. ,
2010,
22(
2):
144

i
ng[
J].
Compu
t
e
r
si
nI
ndus
t
r
2002,
48(
3):
241
y,

[
13]Pr
edk
iW,He
rme
sJ.
Op
t
imi
e
r
ungde
rSchne
cken

( )

148.

r
ad
f
e
r
t
i
r
ch Pr
o
z
e
s
s
s
imu
l
a
t
i
on [
J].Fo
r
s
gung Du

251.

chungimI
ngen
i
eu
rwe
s
e,
2010,
74(
1):
19

25.

:,,
1984

o
ft
heUn
i
tNo
rma
lVe
c
t
o
rUs
i
ngt
heCr
o
s
s-cu
r
ve

,,
1937

t
i
ono
faFr
e
e
f
o
rmSu
r
f
a
c
eMe
a
su
r
emen
t[
J].Me
a
s

[
14]Le
eRuey-Tsung,
Sh
i
ouFang-Jung.
Ca
l
cu
l
a
t
i
on

Mov
i
ngMa
skMe
t
hodf
o
rPr
obeRad
i
usCompens
a

u
r
emen
t,
2010,
43(
4):
469

478.

1896

,,
1966