变运动学模型下动力学模型变换定理及其在多自由度关节并联机构中的应用

本文基于拉格朗日动力学方程推导并提出了变运动学模型下动力学模型变换定理．运用该定理建立复杂机构系统动力学模型可以得到结构良好的动力学方程，该定理也正是作者在研究复杂多自由度关节并联机构动力学建模问题中得出的一般性定理．最后运用该定理讨论了Ｐｉｔｃｈ－Ｙａｗ－Ｒｏｌｌ全方位关节机构的动力学建模问题．

Kinetic Model Transformation Theorem in the Change Kinematics Model and Its Application in the Multifreedom Joint Parallel Mechanism

The kinetic model transformation theorem in the change kinematics model is put forward and deduced based on the Lagrange's kinetic equation. The well-structured kinetic equation will be gained by applying the theorem to establish the complicated mechanism system kinetic model. The theorem is just the general theorem obtained through studying complicated multifreedom parallel mechanism kinetics established model equation by the authors. In the end the kinetics established model question of Pitch-Yaw-Roll all placement joint mechanism is discussed by applying the theorem.