针对传统单摆角刀具结构虚轴机床的加工空间较小、运动不够灵活、不能躲避奇异点等问题 ,提出了一种具有双摆角刀具结构的虚轴机床。考虑到这种机构在实际加工过程中出现的转轴转角过大和转轴总转角超出范围等可能性 ,提出了避免上述问题发生的控制算法 Aiming at the problem that the traditional single swing angle tool structure virtual axis machine tool has a small processing space, not enough movement flexibility and can not avoid singularity, a virtual axis machine tool with double swing angle tool structure is proposed. Taking into account the possibility of such institutions in the actual machining process shaft angle is too large and the total rotation angle is out of range and so on, the proposed control algorithm to avoid the above problems