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分析了水轮机对形修磨机器人双三轴相交的特殊结构．在建立连杆坐标系的基础上，采用牛顿-欧拉方法建立其动力学数学模型，为研究机器人动态特性，进行动力学优化提供理论基础．
This paper analyzes the special structure of hydraulic turbine intersecting double triaxial shape grinding robot. Based on the establishment of the connecting rod coordinate system, the dynamic mathematical model is established by the Newton-Euler method, which provides a theoretical basis for the study of dynamic characteristics of the robot and dynamic optimization.