中文摘要：

满足运动学要求是车辆结构设计的基本要求。对于磁浮列车而言，车辆与线路之间的运动解耦功能主要由车辆的二次系完成。高速磁浮列车的二次系主要由摇枕、防滚橡胶件、空气弹簧、摆杆和Z向支座等构成，其运动同时受线路线形和刚性车厢的约束。本文利用多刚体运动学建模方法——Denavit—Hartenberg变换方法，建立高速磁浮列车二次系的运动学模型。结合线路线形的特征参数，通过求解运动学模型的逆解，计算当车辆通过曲线时二次系各构件的运动情况。本文的建模方法和结果对高速磁浮列车的设计和分析具有参考价值。

英文摘要：

To satisfy the kinematic requirement is the basic rule for the mechanical structure design. For the maglev train, the motion decoupling function between the vehicle and guideway is achieved by the secondary suspension system of the train. The secondary suspension system of the high speed maglev is constitutive of the rock arm, anti-roll rubber element, air spring, pendulum pole, Z support and etc. And its movement is restricted by the guideway and the vehicle body. This paper establishes the kinematic model of the secondary suspension system of the high speed maglev on the basis of the Denavit-Hartenberg multi rigid body modeling method. And then according to the different curves of the rail,the movements of the main elements of the secondary suspension system of the vehicle are analysed when the train is negotiating the curves. The modeling method and the results are valuable for the design and analysis of the high speed maglev train.