摘要
运用凯恩（Ｋａｎｅ）动力学方程并结合牛顿─欧拉算法，导出了一种新的机器人动力学递推算法。此法简练、直观，可以方便地求解带有局部闭链结构的机器人动力学问题，而且特别适宜于计算机辅助设计计算。最后以具有局部闭链结构的两自由度操作手为例，说明了计算步骤和方法。
This paper proposes a new recursive algorithm of robots dynamics based on the kane's dynamical equations and the Newton-Euler formulations The algorithm is simple,illustrative and Can be used for solving dynamic problems of the robots with closed kinematic chains.It is especially available to CAD of robots In the end of the paper,an example of modelling and computation of dynamics is given.
