对作战单元部件备件满足率进行研究的基础上，针对任务时序逻辑关系为完全并行并联关系的情况，建立了多个作战单元任务的任务成功概率模型。

On the base of the research of spare fill rate, we established mission availability models of multi combat unit when order and logical relation of mission is full collateral and parallel.

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在此基础上分析了操作臂的运动学和静力学关系，建立了并联柔性系统的动力学模型。

Then, the kinematics and statics of the manipulator are studied, and a dynamic model of this parallel flexible system is established.

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分析了柔性并联机构系统的固有频率与设计参数的关系。

The relationship of the natural frequency and design parameters of the parallel mechanism were studied.

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