Abstract: Analytical dynamic model for new type parallel machine tools is established based on kinematic analysis,kane dynamic equation and numeric-symbolic approach.Problem of deriving model matrix elements is transformed into problem of solving for driving force under specified conditions by kinematic and dynamic formulae. Real-time codes of dynamic model matrix elements are generated automatically on computer. Polynomial structure optimization method of real-time code is proposed and parallel algorithm for analytical dynamic model is established. The procedures of dynamic modelling and real-time code optimization can be performed off-line, and parallel calculation structure is adopted, therefore on-line calculation amount and computing time can be reduced greatly. The numerical examples of real-time code generation for dynamic model matrix elements and simulation calculation are given for illustration.

Key words: Analytical model, Dynamics, Numeric-symbolic approach, Parallel calculation, Parallel machine tool, Polynomial structure optimization