中文摘要：

利用SAMCEF软件进行了Cross-Ⅳ四自由度并联机器人的建模与仿真。首先，利用SolidWorks模型建立了机器人的三维实体模型，并通过运动学逆解模型计算得到驱动轴转角参数。然后，利用SAMCEF软件建立了机器人的多刚体动力学模型和刚柔混合动力学模型，并进行了仿真分析，研究机器人在实际运动过程中杆件的弹性变形对末端轨迹精度的影响，从而预估机器人的动态特性。

英文摘要：

The dynamics modelling and simulation for a high speed 4 - DOF parallel robot （ Cross-Ⅳ robot） is investigated based on SAMCEF Software. First, the 3D model of the robot is built in SolidWorks and driving angle parameters are calculated through inverse kinematics model. Then the rigid body system and mixed rigid -flexible system of the robot are established and simulated. The effects of the flexibility of the passive legs on the path tracking errors of the end-effector are examined. The detailed modeling and simulation procedures and the simulation results provide an important reference for estimating the dynamic characteristics of the robot.