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

I'm afraid I don't have a ready made kinematic for a machine with 2 work side rotaries and one spindle rotary.

Do you have a picture of the machine geometry? I'm having trouble picturing a spindle with a C rotation only. C would rotate around the Z axis and usually the spindle itself is aligned with the Z axis.

Hi,

i attached representive photo of the machine. 

C axis is for rotation of the welding torch and this torch has offset between torch tip and rotation center of the C axis This ofsett can modified by operator according to welding jig.

A and B axis are for rotation of the object that operator needs to weld.  

I see. Yes, that would require a new kinematic model. Basically the 'xyzab-tdr' expanded with the tool side c rotation and the torch tip offset.

metalkesh wrote:

C axis is for rotation of the welding torch and this torch has offset between torch tip and rotation center of the C 

This is not the C-axis.

Yes it is the C axis. It's just that the A, B axes in the image are not in the referenced orientation.

Yes, exactly.