Kinematics and dynamics analysis of a H-shaped parallel mechanism is conducted

the degree of freedom of the mechanism is obtained

kinematics superposition principle is used to establish inverse kinematics

velocity and acceleration models for the mechanism.The inverse dynamics model is obtained by using the D ’Alembert-Lagrangian principle.Based on the analysis of the generalized forces of each moving parts in the mechanical system under virtual displacement

the dynamic equations are derived.Through the joint simulation of MATLAB and Adams with characteristic test

the correctness of the inverse dynamic model is verified.Which lays a foundation for the dynamic analysis and trajectory planning of similar parallel mechanisms

and provides theoretical support for precise control of parallel robots with less degrees of freedom.