建立了双球环三球销式等速万向节的多体动力学模型，分析了其工作过程中产生的动态力，并测试了轴向派生力和高频滑移阻力，计算结果和试验测试结果的对比验证了模型的正确性。基于建立的模型，对比分析三球销式等速万向节和双球环三球销式等速万向节的动力学特性，结果表明: 双球环三球销式等速万向节的轴向派生力减小了80%，高频滑移阻力减小了 50%。

The multi-body dynamic model of a double roller tripod joint was established，and the dynamic forces generated during its working process were analyzed． The generated axial force and high frequency plunging force were tested，and the comparison between the calculation results and the test results verifies the correctness of the model． Based on the established model，the dynamic characteristics of a tripod joint and double roller tripod joint were compared． The results show that the axial generated force of a double roller tripod joint is reduced by 80%，and the high frequency plunging force is reduced by 50%．