Abstract: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 its force has the character of peak,the speed and acceleration of its' sliders have symmetry. These simulation results are useful to the design of this parallel support robot.