目的 为了提高一种三自由度并联包装机构动态性能，对其进行动力学建模与仿真研究。方法 首先建立机构三维模型并进行位置反解计算，而后应用凯恩法列出动力学方程。在对支链模态分析基础上依托多体动力学仿真软件ADAMS与有限元软件Ansys，将各连接杆件由刚体转换为柔性体进行刚柔耦合动力学分析。结果 通过动力学建模求得了驱动杆在广义坐标下的驱动力。由模态分析求得支链的第1阶到第6阶固有频率分别为88.656，108.95，119.96，125.33，131.07，138.77 Hz，以及机构在各个阶次下的振型。得到了机构动平台质心运动位移、速度、加速度，以及关节驱动力、力矩变化曲线。结论 并联包装机构中刚度薄弱环节位于球铰连接两端，在各阶模态振型中，振动相对位移较大位置位于动平台和支链中部滑块；连接杆件会对动平台运动性能、关节驱动力产生一定的影响。分析结果为并联机构进一步优化提供了理论依据。

The work aims to carry out dynamic modeling and simulation study of a 3-DOF parallel packaging mechanism, so as to improve its dynamic performance. Firstly, the three-dimensional model of the mechanism was established and the inverse solution of mechanism position was calculated. Then, Kane's method was used to list the dynamic equations. Based on the modal analysis of the branch chain, the rigid-flexible coupling dynamic analysis of the mechanism was carried out by transforming the connecting rods from rigid bodies to flexible bodies, relying on the multi-body dynamic simulation software ADAMS and the finite element software Ansys. The driving force of the drive rods in generalized coordinates were obtained by dynamic modeling. From the modal analysis, the natural frequencies of the first order to the sixth order were respectively 88.656, 108.95, 119.96, 125.33, 131.07 and 138.77 Hz and the vibration mode of the mechanism in each order was obtained. The motion displacement, velocity, acceleration of moving platform centroid and change curves of joint driving force and moment of the mechanism were obtained. The weak link of the rigidity in the parallel packaging mechanism is located at the two ends of the spherical hinge connection, the position with large relative displacement of vibration in the modal shape of each order is located at the moving platform and the slide block in the middle of branch chain, and the connecting rods have certain influence on the motion performance and joint driving force of the moving platform. The analysis results provide a theoretical basis for further optimization of the parallel mechanism.