Parallel machine tools (PMTs) are suitable for machining parts with complex surface features, owing to their advantages in providing flexible attitude adjustments and quick dynamic responses. However, due to the characteristics of the multiple-axis coupling motions and nonlinear dynamics, how to achieve high-efficiency and high-quality machining using PMTs remains a challenging issue encountered in the field. To solve this problem, in this study, the tracking error generation mechanism for PMTs is originally disclosed, which indicates that the driving limb's tracking error includes the error caused by the time-varying load, and that caused by the input signal. Accordingly, an integrated control method combining real-time dynamic feedforward and feedrate scheduling is proposed for reducing these two parts of the tracking errors. A stepwise identification method that can decouple the friction parameters and inertial parameters is designed for real-time dynamic feedforward control. In addition, by establishing systematic machining quality constraints related to the PMT's dynamic properties, a feedrate scheduling method for complex spline toolpaths is put forward. Finally, toolpath tracking and machining comparison experiments are conducted with a commercial ISG computer numerical control (CNC) kernel to validate the advantages of the proposed control method. The experimental results demonstrate that the proposed integrated control method can effectively improve the machining efficiency and machining quality. In summary, this study analytically formulates a tracking error prediction model for PMTs, and proposes an integrated control method for high-performance machining. The findings of this study provide a feasible way to improve the performance of PMTs, and to further promote their popularization and application in industry.

并联机床（PMT）由于具有提供灵活的姿态调整和快速的动态响应的优势，因此适合于加工具有复杂表面特征的零件。但是，由于多轴耦合运动和非线性动力学的特性，如何使用PMT来实现高效和高质量的加工仍然是该领域中一个具有挑战性的问题。为了解决这个问题，在本研究中，最初公开了一种用于PMT的跟踪误差产生机制，该机制表明驱动肢的跟踪误差包括由时变负载引起的误差和由输入信号引起的误差。因此，提出了一种结合实时动态前馈和进给率调度的集成控制方法，以减少跟踪误差的这两部分。设计了一种可以使摩擦参数和惯性参数解耦的逐步识别方法，用于实时动态前馈控制。此外，通过建立与PMT动态特性相关的系统加工质量约束，提出了一种用于复杂样条刀具路径的进给率调度方法。最后，使用商用ISG计算机数控（CNC）内核进行了刀具路径跟踪和加工比较实验，以验证所提出的控制方法的优势。实验结果表明，所提出的集成控制方法可以有效提高加工效率和加工质量。综上所述，本研究分析性地建立了PMT的跟踪误差预测模型，并提出了一种用于高性能加工的集成控制方法。