为了优化风洞6_PUS并联支撑机器的动力学设计参数，基于运动影响系数和拉格朗日动力学方法，推导了一种6_PUS并联机器人的动力学方程。并基于ARMSTRONG摩擦模型，分析了这种高耗散能并联机器人的动力学特性。通过仿真发现：摩擦功耗是该机构动力的主要部分，且力具有峰值特性，滑块的运动速度和加速度具有对称性。仿真结果为该并联支撑机器人的设计提供了参考。%In order to optimize the dynamic design parameters of 6_PUS parallel mechanism for wind tunnel support system, based on influence coefficient and Lagrange dynamics method,dynamics equation of a kind of 6_PUS parallel robot was built.Based on ARMSTRONG friction model,the dynamic characteristics of this high-dissipation parallel mechanism were analyzed.It is found that the friction power consumption is the most main part of the mechanism power by simulation,and it's force has the character of peak,the speed and acceleration of its'sliders have symmetry.These simulation results are useful to the design of this parallel support robot.
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