以钢坯修磨为实用目的研制的一台机器人化三腿机床，具有刚度大、负载能力强、机构简单、工作空间大、无运动耦合及奇异位形等优点，首次解决了钢坯局部修磨自动化问题，配以其它加工执行器还可实现多种工艺要求。建立了该机床的运动学逆、正解方程，对其工作空间和受力分析进行了介绍，并介绍了局部修磨自动化控制系统 A robotized three-legged machine developed for the practical purpose of billet grinding has the advantages of large rigidity, strong load capacity, simple mechanism, large working space, no motion coupling and strange shape and so on, and solves the problems of local autogenous grinding of billet Problems, coupled with other processing actuators can also achieve a variety of process requirements. The kinematic inverse and positive solution equations of the machine tool are established, the working space and stress analysis are introduced, and the local grinding automation control system