从实际应用角度出发,针对用户有时要求控制点可变、缸筒端与活塞端质心不一定在铰点连线上的情况,建立了适用于控制点在任意点、缸筒端与活塞端质心在任意位置的通用运动学反解模型;然后运用虚功原理建立了通用的动力学反解方程,得到了结构紧凑的解,并根据实际情况对模型进行了简化,确定其应用范围.最后通过仿真对比,验证所推导公式的正确性.结果表明：仿真结果与其它文献报道的结果完全吻合,所建立的动力学反解方程正确,可用于Gough-Stewart平台的设计及基于模型的控制策略的研究.

In practical applications,users sometimes require the control point to be changeable,and the mass centers of piston parts and cylinder parts of the limbs are often non-collinear to the attachment points of universal joints.In order to solve these problems,a general inverse kinematic model,which is applied to the control point at any desired point and to the mass centers at random positions,is established.Then,a general inverse dynamic equation is built based on the principle of virtual work,and a compact solution to the equation is obtained.More-over,the proposed model is simplified according to practical situations,and the application scope of the model is clearly stated.Finally,some simulations are performed to verify the correctness of the established equation,with the results being completely consistent with the reported ones.Thus,it is concluded that the established inverse dynamic equation is correct and is applicable to the design and model-based control of the Gough-Stewart platform.