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对一类平面双连杆受限柔性机器人臂的动力学建模问题进行研究，利用D’Alembert－Lagrange原理得到了一组描述该机器人系统运动性态的动力学方程．与已有的动力学模型相比，本文所建立的运动方程和振动方程具有模型准确、结构简单等特点，且具有与传统无约束刚性机器人类似的模型形式，因而有可能直接或间接利用现有的关于刚性机器人运动控制等方面的成果来研究复杂的受限柔性机器人的控制问题．
The dynamic modeling of a kind of planar two-link constrained flexible robotic arm is studied. A set of dynamic equations describing the motion of the robot system are obtained by D’Alembert-Lagrange principle. Compared with the existing dynamic model, the equations of motion and vibration established in this paper have the characteristics of accurate model and simple structure, and have the similar model forms as the traditional unconstrained rigid robots. Therefore, it is possible to directly or indirectly utilize existing On the rigid robot motion control and other aspects of the research to control the complex limited flexible robots.