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本文用旋量方法研究机器人的动力学模型，将速度和角速度，力和力矩的内在联系有机地融合为一体，使Ｎｅｗｔｏｎ－Ｅｕｌｅｒ方法更加简明有效率．文中相对于机器人各臂质心建立参考系，使惯性张量和质心加速度计算简化，进一步减少计算量，达到快速实时计算．
In this paper, we study the kinematic model of a robot by the spin method, and integrate the internal relations of velocity, angular velocity, force and moment organically, making the Newton-Euler method more concise and efficient. In this paper, a reference frame is established relative to the center of mass of each robot arm, which simplifies the calculation of inertial tensor and centroid acceleration to further reduce the computational load and achieve fast real-time calculation.