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本文将闭链机构受力分析的示力副法推广应用到含单闭链机器人的动力学分析，建立了含单闭链机器人的动力学逆问题和建模计算公式计算时，将含单闭链机器人分成主开链和子开链，并对机器人所含闭链机构进行运动分析，由此得到联系主开链和子开链关节运动量的变换阵借鉴开链机器人的动力学公式对这两个开链进行计算．将所得的子开链的动力学计算结果，由得到的关节运动量变换阵进行适当变换，并与主开链的动力学计算结果相加就可得到含单闭链机器人的动力学计算结果与其它方法相比，此计算公式简明、完善且直观，易于推广应用．
In this paper, the analytical method of mechanical force of closed chain mechanism is extended to the dynamic analysis of single-closed-chain robots. The kinematic inverse problem of single-closed-chain robots and the calculation of modeling and calculation formulas are established. The chain robot is divided into a main open chain and a sub-open chain, and the motion analysis of the closed chain mechanism contained in the robot is performed. The transformation matrix that connects the movement amounts of the main open chain and the sub-open chain link is obtained from the dynamics formulas of the open chain robot. Chain calculation. The dynamic calculation results of the sub-open chain obtained from the joint motion transformation matrix transformation and the main open chain with the dynamic calculation results can be obtained with a single closed-chain robot kinematics calculations and other Compared with the method, this formula is simple, perfect and intuitive, easy to popularize and apply.