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Abstract:Parallel manipulators with less than six degrees of freedom (DOF) have been increasingly used in high-speed hybrid machine tools.The structural features of parallel manipulators are dynamic,a characteristic that is particularly significant when these manipulators are used in high-speed machine tools.However,normal kinematic control method cannot satisfy the requirements of the control system.Many researchers use model-based dynamic control methods,such as the dynamic feedforward control method.However,these methods are rarely used in hybrid machine tools because of the complex dynamic model of the parallel manipulator.In order to study the dynamic control method of parallel manipulators,the dynamic feedforward control method is used in the dynamic control system of a 3-PSP (prismatic-spherical-prismatic) 3-DOF spatial parallel manipulator used as a spindle head in a high-speed hybrid machine tool.Using kinematic analysis as basis and the Newton-Euler method,we derive the dynamic model of the parallel manipulator.Furthermore,a model-based dynamic feedforward control system consisting of both kinematic control and dynamic control subsystems is established.The dynamic control subsystem consists of two modules.One is used to eliminate the influence of the dynamic characteristics of high-speed movement,and the other is used to eliminate the dynamic disturbances in the milling process.Finally,the simulation model of the dynamic feedforward control system of the 3-PSP parallel manipulator is constructed in Matlab/Simulink.The simulations of the control system eliminating the influence of the dynamic characteristics and dynamic disturbances are conducted.A comparative study between the simulations and the normal kinematic control method is also presented.The simulations prove that the dynamic feedforward control method effectively eliminates the influence of the dynamic disturbances and dynamic characteristics of the parallel manipulator on high-speed machine tools,and significantly improves the trajectory accuracy.This is the first attempt to introduce the dynamic feedfordward control method into the 3-PSP spatial parallel manipulator whose dynamic model is complex and provides a study basis for the real-time dynamic control of the high-speed hybrid machine tools.