对冗余度机器人的运动学和动力学优化问题分别进行了分析 ,建立了运动学和动力学综合优化的逆动力学方程 ;解决了关节速度最小范数解和最小关节力矩解之间的矛盾 ,从而在运动中避免了关节运动速度超限 ,克服了在末端运动结束后机器人关节的自运动问题。并对四重四面体变几何桁架机器人进行了动力学规划 ,仿真计算结果表明提出的逆动力学方程对关节速度和关节力矩都有较好的优化作用 The kinematics and dynamics optimization problems of redundant robots are analyzed respectively. The inverse kinematics equations of kinematics and dynamics optimization are established. The contradiction between the minimum nodal solution of the joint velocity and the minimum joint torque solution is solved , So as to avoid the over speed limit of the joint movement in the movement and overcome the self-movement problem of the robot joint after the end movement ends. The dynamic quadruplex geometry truss robot is also planned. The simulation results show that the proposed inverse kinematics equation can optimize the joint velocity and joint moment