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.

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