中文摘要：

基于具有广义坐标形式的牛顿～欧拉方法建立一般空间并联机构动力学正问题建模与仿真的通用方法。在动力学建模时，选取空间并联机构动平台的工作空间变量作为系统广义坐标，从各构件的牛顿一欧拉方程出发，结合运动学逆解和虚功原理，得到与广义坐标相对应的系统动力学方程一运动微分方程和系统理想铰约束力方程。对6-UPS型空间并联机构进行动力学建模，计算外力作用下的动态响应，验证了该方法的有效性。理论分析和仿真案例表明，该方法可以简化并联机构动力学正问题的建模步骤，提高计算效率。

英文摘要：

A general method for the forward dynamics modeling and simulation of spatial parallel mechanisms is proposed on the basis of Newton-Euler method with generalized coordinates. The task-space variables are chosen as the generalized coordinates during the dynamics modeling. The equations of motion and reaction can be obtained from the Newton-Euler equations of all the bodies in the mechanism according to the inverse kinematics and the principle of virtual work. The 6-UPS mechanism is studied as an example to verify the validity of the method, and the forward dynamic model and the simulation results are presented. The theoretical analysis and case study show that the method can simplify the procedure of the forward dynamics modeling of spatial parallel mechanisms and improve the computational efficiency.