A dynamic model of a vibration system with two degrees of freedom and multiple rigid constraints is constructed, the dynamics constraints of the segmented smooth vibration system under the multi-body impact coupling condition are given. Based on the cell mapping principle, a two-parameter co-simulation is carried out with two important parameters of excitation frequency and constraint gap as control variables. The model types and distribution rules of the periodic motion of the system response on the [Formula: see text]-whole two-parameter plane are obtained. The correlation between the dynamic response of the system and the model parameters is analyzed, and the evolution and bifurcation characteristics of fundamental periodic vibrations in the low-frequency small-gap parameter domain of the two-degree-of-freedom multi-rigid constrained vibration system are discussed. The diversity and regularity of subharmonic shock vibrations in the translational domain of the lingual domain are found.