中文摘要：

针对Tricept并联机构在加工过程中的振动现象，文中对其弹性动力学性能开展了研究。利用动态子结构综合法建立了基于Lagrange方程的Tricept并联机构的弹性动力学模型。根据Tricept并联机构自身结构特点对其进行单元划分，分别利用有限单元法构造各支链弹性单元动力学模型，并结合变形协调条件和动力学约束，建立整机弹性动力学解析模型。根据该弹性动力学模型，得到了Tricept并联机构在其工作空间内的固有频率特性和末端刚度。所建立的模型便于探讨机构结构参数对系统动态特性的影响规律，从而为这类并联机构的动态设计提供理论依据。

英文摘要：

In order to study the vibration phenomenon in the machining process of Tricept parallel mechanism, this paper proposes an elastodynamic modeling method using the kinematic and dynamic constraint condition based on Lagrange equations. The KED model is obtained by coupling the Tricept parallel mechanism sub-structure model with the finite element method. Under the KED model, the natural frequency characteristics and stiffness of Tricept Parallel Mechanism in its workspace are developed. This paper also explores the structure parameters＇ impact on the dynamic characteristic of the system in order to provide a theoretical basis for the dynamic design of this type of parallel mechanism.