Abstract : Using linear motors to drive virtual axis machine tools can meet the requirements of dynamic response and improved accuracy at high speeds. How to solve the strong coupling of a 6-position loop virtual axis machine tool has always been a difficult problem in the servo control of virtual axis machine tools. To this end, a decoupling algorithm is proposed by combining the local structured method with decoupling theory, which theoretically realizes the decoupling between the translation and rotation of the 6-position loop virtual axis machine tool. Keywords : Decoupling; 6-position loop virtual axis machine tool; Inverse kinematics; Linear motor 1 Introduction To meet the requirements of high-precision and high-speed machining, a parallel machine tool (virtual axis machine tool) has been developed in recent years. Compared to tandem machine tools, parallel machine tools offer advantages such as smaller kinematic chain mass (higher acceleration), higher rigidity, and simpler mechanical structure, thus earning the title of "machine tool of the 21st century." High-speed machining requires very high feed rates and accelerations. Using linear motors avoids the backlash, inertia, friction, and insufficient rigidity inherent in ball screw (gear, rack) transmissions, achieving contactless direct drive. This allows for speeds exceeding 160 m/min and accelerations exceeding 2.5g (or even 0g), with positioning accuracy reaching 0.5–0.05 m. This results in high-precision, high-speed displacement motion (extremely high positioning and repeatability at high speeds) and excellent stability. While the mechanical structure of parallel machine tools has been continuously simplified, the difficulty of control has increased, especially in resolving the strong mechanical coupling between the six drive rods of a virtual axis machine tool. Numerous domestic and international publications have studied this issue, but a solution remains elusive. Therefore, decoupling virtual axis machine tools has become a pressing problem. [b][align=center]For details, please click: Kinematic Decoupling of a Linear Servo 6-Position Ring Virtual Axis Machine Tool[/align][/b]