飞机装配领域广泛使用托架式调姿机构进行工件位姿调整，由于托架质量大、惯性大，导致其运动学控制困难，需要引入动力学控制。确定了位姿反解时调姿机构位姿参数中的独立变量与位姿正解时驱动量中的独立变量，以此为基础进行了速度与加速度正反解分析，然后利用牛顿—欧拉法对一新型三自由度冗余驱动的自动钻铆托架式并联调姿机构进行了动力学建模；考虑定位器移动副摩擦的影响，结合伸缩筒变形协调性分析、调姿机构位姿误差与结构误差分析，建立球铰处作用力、伸缩筒顶端变形量、调姿机构位姿误差、球铰中心点位置误差之间的补充方程，增加动力学模型中约束方程个数；采用Matlab与Adams进行了动力学模型的相互验证，证明了建模方法的有效性，可用于其他类型基于定位器的并联机构动力学控制。

Bracket type posture adjustment mechanism is widely used in aircraft assembly field to adjust the position and posture of the work-piece. Due to the large mass and inertia of the bracket, the kinematics control is difficult and dynamic control needs to be introduced. Independent variables of the posture parameters of the bracket type parallel posture adjustment mechanism in the posture reverse solution and the independent variables of the driving parameters in the posture positive solution were determined. Based on the independent variables, the positive and inverse solutions of velocity and acceleration were analyzed. Newton-Euler method was used to model the dynamics of a new type of three-degree-of-freedom redundantly actuated automatic drilling and riveting bracket type parallel posture adjustment mechanism. Combined with the analysis of the deformation coordination of the telescopic barrel, the posture error and structural error analysis of the posture adjustment mechanism, the dynamic model also took into account the influence of the sliding pair friction of the positioner. Then, the supplementary equations related to the force of the spherical joint, the deformation of the top of the telescopic cylinder, the position and posture error of the posture adjustment mechanism and the position error of the center point of the spherical joint was established. It increased the number of constraint equations in the dynamic model. The dynamic model is mutual verified by Matlab and Adams. Compared with the existing dynamic model, the precision of driving force solution of the dynamic modeling method is more accurate. It proves the validity of the modeling method and can be applied to other types of dynamic control of parallel mechanisms based on positioners.