中文摘要：

提出了4-UPS—UPU5自由度并联机器人机构，建立了机构的动力学模型。推导了UPS和UPU支链的运动学反解的解析方程，并建立了各个构件速度与动平台速度的映射关系；推导了各个运动构件的外力对应于5个驱动杆的等效驱动力，然后用虚功原理推导了4-UPS～UPU并联机器人机构的动力学模型，为支链中驱动力和约束力矩的求解以及整个机构的动力学分析奠定了基础。最后结合机构的工程应用实例，采用Matlab编程对动力学模型进行了实际计算，并绘制了机构驱动杆驱动力和约束力矩的变化曲线，将上述分析结果与ADAMS虚拟仿真结果对比验证了所建动力学模型的正确性。

英文摘要：

A 4 - UPS - UPU spatial 5-DOF parallel robot mechanism was introduced. A dynamics model of 4 - UPS - UPU was presented. The kinematics of the UPS and UPU chain of leg was analyzed and the velocity mapping relationships between the parts and the driving axis were established. The exterior force load and the equivalent driving force were educed. The dynamics model of 4 - UPS - UPU parallel robot mechanism was educed by the virtual work principle approach, which was the foundation of the dynamic analysis. Combined with engineering application examples, numerical verification and virtual simulation verification of the results of driving force and constraining torque was carried out.