本文以Ｋａｎｅ方程为基础，建立了具有力约束的多体系统动力学方程，以能量最小为优化目标，实现了动力学解算。以工业机器人为例，进行了动力学分析和解算。 Based on the Kane equation, a multi-body system dynamics equation with force constraint is established in this paper. The kinetic solution is achieved with the minimum energy as the optimization objective. Taking industrial robots as an example, the kinetic analysis and solution are carried out.