In order to obtain the rigid body inertia parameters quickly and accurately， the identification method of the inertial parameters of rigid bodies based on frequency response functions is studied. Firstly， the inertial parameter identification algorithm is studied， and verified by multi-body dynamics simulation analysis. Then the main factors are deeply analyzed， which affects the accuracy of the identification method and the law of influence. The analysis shows that the coordinate error of the excitation point and the response point and the excitation direction have a great influence on the recognition accuracy. Finally， the design of the inertial parameter identification experimental device is completed， and the experimental research is carried out. Experimental results shows that the rigid body mass and centroid position recognition accuracy is within 4%， and the moment of inertia and inertial product identification accuracy are all within 10%. The recognition accuracy and efficiency meet the actual needs of the project.