Research Article Controlling Hybrid Machine Tools concerning Error Compensation of Chain Elements Khanh Duong-Quoc , 1 Thuy Le-Thi-Thu , 1 Long Pham-Thanh , 1 and Ngoc Nong-Minh 2 1 Division of Mechatronics, Faculty of Mechanical Engineering, ai Nguyen University of Technology, ai Nguyen 24100, Vietnam 2 ai Nguyen University, ai Nguyen 24100, Vietnam Correspondence should be addressed to uy Le-i-u; hanthuyngoc@tnut.edu.vn Received 13 December 2021; Accepted 10 February 2022; Published 7 April 2022 Academic Editor: Yaoyao Wang Copyright © 2022 Khanh Duong-Quoc et al. is is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. is paper introduces a methodology for controlling parallel robots in case they are used as a kind of specialized fixture to expand the technological capabilities of machines. e parallel robot is mounted on the workbench to extend the number of degrees of freedom. However, there are always measurable kinematic errors of the workbench which will be eliminated by the robot’s motion. e actual working motion of the robot is then still performed by its active joints. erefore, the displacement of each movable joint is now decided by two sources, one is due to the error compensation motion of the workbench, the other is the required work movement. According to the superposition principle, these two motions are combined into a single displacement characteristic curve to control the robot. e base exchange technique to determine the error compensation motion of the workbench, the technique of solving the inverse kinematics problem by the generalized reduced gradient (GRG) method, and the principle of joint motion combination are then introduced in detail in the paper. Finally, an example with the hexapod is presented. e obtained results, which use the robot itself to generate error-compensated movements of the workbench by means of the base exchange technique, will open up the possibility of intervening in hybrid machine systems to ensure the desired forming accuracy without no hardware intervention required. 1.Introduction Since their first appearance for more than two decades, parallel robots have been expected to replace conventional Computer Numerical Controlled (CNC) machines with serial kinematics. However, there are many unresolved problems existed, especially in machining applications that require precision, rigidity, dexterity, and large workspaces [1]. To improve the problem of limited working space while preserving the characteristics such as high rigidity, high precision, and high speed of parallel robots, many scholars have researched, designed, and applied a combination of chain mechanisms (such as CNC machines) and parallel robots, called hybrid mechanisms. Hybrid mechanisms are mainly used in machine tools [2]. Zhu et al. [3] considered the 3-TPS hybrid machine tool (In there, the parallel has three legs, each leg has three joints: T-Twisting joint, P-Prismatic joint, and S- Spherical joint). e research has solved the problem of selecting motor parameters and mechanism design. Zhang et al. [4] presented a novel parallel manipulator with one translational and two rotational de- grees of freedom (DOF). is 5 DOF hybrid kinematic machine tool is used in the aerospace field for large het- erogeneous complex structural component machining. In this research, a three-degree-of-freedom 2PRU-PRPS par- allel manipulator is proposed to increase stiffness (P denotes the Prismatic active joint, R denotes the Rotational joint, and U denotes the Universal joint). Song et al. [5] performed kinematic modal characteristic analysis on the 4PRR-P Hindawi Journal of Robotics Volume 2022, Article ID 4366888, 9 pages https://doi.org/10.1155/2022/4366888