“…1(a), structural form of main servo motor-worm and worm gear commutation reducer-transmission screw-linkage force increasing mechanism is used as main transmission system. In Siemens configuration software, main servo motor can be configured as linear axis by setting reduction ratio of worm and worm gear commutation reducer, diameter and lead of transmission screw such as mechanical system parameters, so angular displacement, angular velocity, angular acceleration of main servo motor are directly transformed into displacement, velocity, acceleration of nut [10,11]. Because linkage force increasing mechanism belongs to nonlinear transmission mechanism [12,13], the relationships of the velocity and displacement between nut and slide need to be researched.…”