利用凯恩(Kane)动力学方程得到废石手选机器人的动力学模型,并从动力学角度分析了机器人在运动过程中出现的轨迹跟踪性能差、控制精度低及关节振动大等问题的原因,为机器人的结构优化和轨迹规划提供了依据,为实现机器人的精确控制提供了基础。通过MATLAB编程求解,获得了各关节的驱动力矩的变化曲线。研究结果表明,动力学特性对机器人的运动有较大影响。 Kane kinetic equation was used to get the kinetic model of waste rock hand-selected robot, and the reasons of poor trajectory tracking performance, low control precision and large joint vibration occurred during the movement of the robot were analyzed from the perspective of dynamics. It provides a basis for structural optimization and trajectory planning of robots, and provides a basis for the precise control of robots. Solved by MATLAB programming, obtained the joint of the driving torque curve. The results show that the dynamics have a great influence on the robot’s motion.