The invention relates to a six-freedom-degree parallel
machine arm driven by tubular linear motors and a control method of the six-freedom-degree parallel
machine arm. The parallel
machine arm comprises a fixed platform, a movable platform, upper limiting photoelectric sensors, lower limiting photoelectric sensors,
grating ruler sensors and parallel controllers. The multiple tubular linear motorsare evenly distributed between the fixed platform and the movable platform. Each
tubular linear motor comprises an outer circular
pipe and a
drive shaft, wherein the outer circular
pipe is internallyprovided with a motion cavity and a drive cavity which are in communication in the axial direction, the
diameter of the motion cavity is larger than that of the drive cavity, the upper end, stretchinginto the motion cavity, of the
drive shaft is provided with a limiting block, and the corresponding upper limiting
photoelectric sensor and the corresponding lower limiting
photoelectric sensor are correspondingly arranged at the two ends of the drive cavity. The
grating ruler sensors are arranged between motor
stator windings and the drive shafts. The parallel controllers are connected with theupper limiting photoelectric sensors, the lower limiting photoelectric sensors and the
grating ruler sensors correspondingly and connected with the motor
stator windings through motor drivers. Compared with the prior art, the six-freedom-degree parallel machine arm has the beneficial effects of being small in weight, small in size, high in motion speed and efficiency and the like.