考虑关节的柔性,把关节柔性简化成一个线性扭转弹簧。然后利用拉格朗日方法推导出完整的动力学方程。该方程有两组相互耦合的动力学方程组成,一组为通常的多刚体动力学方程,一组为铰柔性产生的动力学方程。并且利用了一个数值模拟例子研究了柔性铰对机器人动力学响应的影响。其中考虑了关节的柔性所产生的动力学方程更为精确,因此在机器人动力学建模和控制中要充分考虑到柔性的影响。 Considering the joint’s flexibility, the joint’s flexibility is reduced to a linear torsion spring. Then using the Lagrange method to derive the complete dynamic equation. The equation has two sets of coupled kinetic equations, one is the general multi-body dynamics equation, and the other is the kinetic equation of the hinge flexibility. And a numerical simulation example is used to study the influence of flexible hinge on the robot dynamic response. Considering the more flexible kinetic equations produced by joint flexibility, the influence of flexibility should be fully considered in the modeling and control of robot dynamics.