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通过引入“虚铰”概念，将双臂机器人协调动力学问题统一归结为约束多体系统的动力学问题。利用子系统牛顿－欧拉递推法获得的单臂机器人的动力学方程以及静力传递与速度传递间的对偶关系，很方便地导出了双臂机器人的动力学方程与回路约束方程，回路约束方程的建立无需增加额外的计算。此外，文中还对双臂机器人协调动力学的求解及其优化问题进行了讨论，最后以一搬运双臂机器人为例进行了动力学的计算机辅助优化，获得了令人满意的结果。文中所得结论对双臂机器人的设计与控制均具有一定的参考价值。
By introducing the concept of “virtual hinge”, the problem of coordination dynamics of double-arm robots is reduced to the dynamical problem of multi-body system. Based on the dynamic equations of single-arm robots obtained by the Newton-Euler recursion subsystem and the duality relationship between the static transmission and the speed transmission, the dynamics equations and loop constraint equations of dual-arm robots are easily derived. The circuit constraints The establishment of equations does not require additional calculations. In addition, the paper also discusses the solution and optimization of the coordination kinematics of the two-arm robot. Finally, taking a two-armed robot as an example, it performs a dynamic computer-aided optimization and obtains satisfactory results. The conclusions obtained in this paper have certain reference value for the design and control of two-arm robots.