针对多机械臂共同搬运同一物体形成闭运动链的协调系统，研究了多机械臂协调动态载荷分配存在冗余情况下的实时性分配方法文中提出了“应集中惯性质量棒”的概念，进而根据各机械臂的承载能力，采用线性加权的方法发展了一种操作物体质心处零内力的载荷分配原则。最后给出了系统载荷分配的解析表达式，有效地解决了多机械臂搬运同一物体时其动态载荷分配的实时性问题。 In order to solve the problem of multi-arm coordinated dynamic load distribution, aiming at the coordination problem of multi-arm manipulating the same object together to form a closed kinematic chain, a real-time assignment method under multi-arm coordinated dynamic load distribution with redundancy is proposed. The concept of “concentrated inertial mass rod” The carrying capacity of each manipulator, using the method of linear weight, developed a load distribution principle of zero internal force at the centroid of the operating object. Finally, an analytical expression of system load distribution is given, which can effectively solve the real-time problem of dynamic load distribution when a multi-arm carries the same object.