中文摘要：

混联支路并联机器人具有独立运动输出、高刚度、控制解耦等优点，但支路中闭环结构的存在也增加了运动学分析和动力学分析的难度。基于此，通过将支链与动平台完全断开以及将混联支路完全退化为串联支路或树状支路，提出基于虚功原理和等价树状结构的混联支路并联机器人动力学建模方法，推导出封闭形式的混联支路并联机器人逆动力学和正动力学模型，动力学模型的维数等于机器人的自由度数。利用最小惯性参数和递推牛顿～欧拉法可以减少支路逆动力学模型的计算时间，应用该方法对两种混联支路并联机器人（2-P（pa）R-1-PUU和3-PU^＊）进行运动学分析和动力学分析，该方法适用于各类混联支路并联机器人，可以指导混联支路并联机器人的结构参数设计和驱动器选配，并可用于机器人的实时动力学控制。

英文摘要：

Parallel robot with hybrid chains has many advantages such as independent motion outputs, high stiffness and control decoupling, but the existence of the close-loop in the chain also increases the difficulties of kinematic analysis and dynamic analysis. The dynamic modeling method for parallel robot with hybrid chains based on the principle of virtual work and equivalent tree structure is proposed by disconnecting the platform and the chains as well as degenerating hybrid chain into serial chain or tree chain, the closed-form solutions for the inverse and direct dynamic models of parallel robot with hybrid chains are derived, the dimension of dynamic model is equal to the degrees of freedom of the robot, the minimal inertial parameters and recursive Newton-Euler method can be utilized to reduce the computation time of inverse dynamic model of the chain. The method is applied to the kinematic analysis and dynamic analysis of two parallel robots with hybrid chains （2-P（Pa）R-1-PUU and 3-PU^＊） and is applicable for all kinds of parallel robots with hybrid chains, it can instruct structure parameter design and actuator selection of parallel robot with hybrid chains and can be used for real-time dynamic control of the robot.