为研究机械臂在力(力矩)作用下的动态响应,在建立机械臂简易模型的基础上,利用patron软件得到其在悬臂梁状态下中部受阶跃冲击时末端位移的变化数据.利用这些数据,提出一种基于传递函数矩阵参数估计的响应模型建立方法,分析在不同模型阶次下的模型精度.研究结果表明:该方法可建立高精度机械臂动态响应模型.该研究成果为机械臂控制及动态误差补偿奠定基础. In order to study the dynamic response of the manipulator under force (moment), based on the simple model of the manipulator, patron software was used to get the data of the end displacement in the middle of the cantilever subjected to step shock. , A new method of establishing response model based on parameter estimation of transfer function matrix is ​​proposed and the accuracy of model under different model order is analyzed.The results show that this method can establish the model of high precision robot dynamic response.The results of this research are: And dynamic error compensation laid the foundation.