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从Ｌａｇｒａｎｇｅ－Ｅｕｌｅｒ方程出发，引入离散力学基本概念，导出了一种用于机器人动力学分析的新方法，建立了包含机械损失（阻尼力）在内的机器人离散动力学递推公式．用该方法建立的机器人动力学模型使计算量减少到目前世界上几种主要建模方法中最少程度，特别是所建立的机器人离散动力学模型相对直观、简洁、物理概念明确，有利于机器人实时控制器的设计．通过实例仿真验证了本方法的正确性和实用性．
Based on the Lagrange-Euler equation, the basic concepts of discrete mechanics are introduced and a new method for robot dynamic analysis is derived. The recursive formula of discrete dynamics of robot including mechanical loss (damping force) is established. The robot dynamics model established by this method can reduce the computational cost to the least among the several major modeling methods in the world. Especially, the established discrete dynamics model of the robot is relatively straightforward and concise, and the physical concept is clear, which is in favor of real-time Controller design. The simulation results verify the correctness and practicability of this method.