Kinematic model for a 5axis mill with universal (nutating) head

[附件=60224]1.jpg[/attachment]这个错误需要修改某些文件吗？

Please repost your question.

There are errors in opening the profile and I m a novice don t know how to handle it.

This is an engraving machine I made, which can now implement RTCP, but the tilt surface function is not yet possible.

The kinematics in this thread is for head-head rotation. Your machine is a table-table rotation type.
I suggest looking at the simulation configurations found in the 'configs/sim/axis/vismach/5axis/table-rotary-tilting/' folder. Most likely the 'xyzbc-trt' configuration will fit your machine.

This is my profile BC table structure.I tried to add functionality but there are always some errors.Can you help me to add the function of tilt surface on this basis? Thank you very much!

The Tilted Work Plane feature I implemented is for kinematics with tool side rotation only. For machines with work side rotation, like yours, prismatic machining is much easier since the XYZ linear axes are always aligned with the tool, so all you need is trivial kinematics to orient the work and do the machining.
So implementing Tilted Work Plane for work side rotation would actually be easier but it is unfortunately not covered by what I did.

Thank you very much, finished the assembly of the mechanical part yesterday, and the system part slowly.

There are some things you don't understand in your paper. The matrix rotating around the Y axis or Z axis should be like this  picture . I think these two have been reversed?

Not sure which paper you are referring to but I have this matrix for rotation around Z:
 

which seems to correspond to your version.