中文摘要：

为了优化风洞6_PUS并联支撑机器的动力学设计参数，基于运动影响系数和拉格朗日动力学方法，推导了一种6_PUS并联机器人的动力学方程。并基于ARMSTRONG摩擦模型，分析了这种高耗散能并联机器人的动力学特性。通过仿真发现：摩擦功耗是该机构动力的主要部分，且力具有峰值特性，滑块的运动速度和加速度具有对称性。仿真结果为该并联支撑机器人的设计提供了参考。

英文摘要：

In order to optimize the dynamic design parameters of 6_PUS parallel mechanism for wind tunnel support system, based on influence coefficient and Lagrange dynamics method,dynamics equation of a kind of 6_PUS parallel robot was built.Based on ARMSTRONG friction model,the dynamic characteristics of this high-dissipation parallel mechanism were analyzed.It is found that the friction power consumption is the most main part of the mechanism power by simulation,and it＆#39;s force has the character of peak,the speed and acceleration of its＆#39;sliders have symmetry.These simulation results are useful to the design of this parallel support robot.