4-DOF 串联仿生机械臂动力学建模方法

串联机械臂在仿生机械、工程机器人中得到广泛应用，如何建立有效的串联机械臂系统动力学模型，解决好模型求解的精度和实时性问题是深入开展机械臂运动控制研究的基础。分别采用牛顿 欧拉法、基于动能积分法的拉格朗日方程和基于等效动能法的拉格朗日方程3种求解机械臂动力学模型的方法，对某仿生螳螂前臂四自由度机械臂进行建模研究，通过具体求解过程对比分析了上述3种方法的实时性、精确性和通用性，为该串联机械臂的运动控制研究提供支撑。

Dynamic Modeling Methodsfor4-DOF Serial Bionic Manipulator

Serial manipulators have been widely applied in bionic machinery and engineering robots. How to establish an effective dynamic model of the serial manipulator system and solve the issues of accuracy and real-time performance of the model solution is the basis for in-depth research on the motion control of manipulators. In this paper, three methods, namely the Newton-Euler equations, the Lagrangian equation based on the kinetic energy integration method and the Lagrangian equation based on the equivalent kinetic energy method, were used to establish the dynamic models of the manipulator respectively. The real-time performance, accuracy and versatility of the above three methods were compared and analyzed by modelling of a bionic mantis forearm four-degree-of-freedom manipulator and the specific solving process, which provides support for the research on the motion control of the serial manipulator.