将绳索看成无弹性变形，利用牛顿拉格朗日建立其动力学模型，拉格朗日是在求解并联机构动力学中是非常经典的力学变形，结合了动量守恒和能量守恒。拉格朗日方法通过一系列广义坐标确切地阐述了运动方程，他在一开始就消除了所有的或者部分不关心的反作用力和力矩，使用广义的坐标可以适当的简化并联机构中动力学的分析。 势能和动能之差为其动力学的拉格朗日函数。(he rope is regarded as inelastic deformation, and its dynamic model is established by Newton Lagrange. Lagrange is a very classical mechanical deformation in solving the dynamics of parallel mechanism, which combines the conservation of momentum and energy. Lagrange's method describes the equation of motion exactly through a series of generalized coordinates. He eliminated all or part of the unconcerned reaction forces and moments at the beginning. Using generalized coordinates can properly simplify the dynamic analysis of parallel mechanism. The difference between potential energy and kinetic energy is the Lagrangian function of its dynamics.)