機(jī)器人的研發(fā)設(shè)計(jì)過(guò)程是多學(xué)科互相交叉影響的迭代過(guò)程，強(qiáng)調(diào)協(xié)同設(shè)計(jì)(co-design)理念. 運(yùn)動(dòng)學(xué)模型和動(dòng)力學(xué)模型為機(jī)器人在技術(shù)規(guī)范和成本約束下的設(shè)計(jì)及性能優(yōu)化提供了重要基礎(chǔ)。機(jī)器人的設(shè)計(jì)和控制基于同一個(gè)機(jī)器人模型，這樣可以在機(jī)器人樣機(jī)制造之前，就可以分析機(jī)器人的控制性能以及評(píng)估機(jī)器人控制軟件。

The R & D and design process of robot is an iterative process of interdisciplinary interaction, which emphasizes the concept of co design. The kinematic model and dynamic model provide an important basis for the design and performance optimization of robot under technical specifications and cost constraints. The design and control of the robot are based on the same robot model, so that the control performance of the robot can be analyzed and the robot control software can be evaluated before the robot prototype is manufactured.

另外基于動(dòng)力學(xué)模型特別支持了驅(qū)動(dòng)鏈包含電機(jī)，減速機(jī)，驅(qū)動(dòng)單元的開發(fā)或選型，我們知道關(guān)節(jié)動(dòng)力單元占據(jù)了機(jī)器人的很大部分成本。從它的設(shè)計(jì)過(guò)程我們也能看出動(dòng)力學(xué)模型的重要功用。機(jī)器人關(guān)節(jié)驅(qū)動(dòng)鏈一般設(shè)計(jì)步驟：

In addition, based on the dynamic model, the development or selection of the drive chain including motor, reducer and drive unit is particularly supported. We know that the joint power unit accounts for a large part of the cost of the robot. From its design process, we can also see the important function of dynamic model. General design steps of robot joint drive chain:

a）根據(jù)設(shè)計(jì)要求中的機(jī)器人工作空間和負(fù)載，定型運(yùn)動(dòng)支鏈基本尺寸和材質(zhì)選擇；

a) According to the robot workspace and load in the design requirements, the basic size and material selection of the fixed motion branch chain;

b）根據(jù)剛體動(dòng)力學(xué)模型計(jì)算，估算所需的關(guān)節(jié)力矩和功率大??；

b) According to the rigid body dynamics model, the required joint torque and power are estimated;

c) 依據(jù)控制帶寬要求和彈性動(dòng)力學(xué)模型分析，設(shè)計(jì)機(jī)械結(jié)構(gòu)尺寸保證足夠的機(jī)械帶寬。

c) According to the control bandwidth requirements and elastic dynamics model analysis, the mechanical structure size is designed to ensure sufficient mechanical bandwidth.

為了使得關(guān)節(jié)驅(qū)動(dòng)鏈選型不小也不過(guò)分的大（盡量做到小化成本），充分發(fā)揮其性能，將關(guān)節(jié)驅(qū)動(dòng)鏈的模型集成于機(jī)器人的多體動(dòng)力學(xué)模型中（即形成連桿到關(guān)節(jié)到關(guān)節(jié)內(nèi)部的動(dòng)力學(xué)模型），這些模型實(shí)時(shí)運(yùn)行在機(jī)器人控制器中，計(jì)算和施加機(jī)器人速度和加速度的動(dòng)態(tài)限值（具體限值取決于機(jī)器人位形），保護(hù)關(guān)節(jié)受到過(guò)大的力和力矩負(fù)載。有了這種關(guān)節(jié)負(fù)載動(dòng)態(tài)（而非靜態(tài)）限值，其實(shí)總體上是可以提升機(jī)器人的平均運(yùn)行速度和加速度，從而提升機(jī)器人效率。

In order to make the selection of joint drive chain not small or too large (minimize the cost as much as possible) and give full play to its performance, the model of joint drive chain is integrated into the multi-body dynamic model of robot (i.e. forming the dynamic model from link to joint to joint), and these models run in the robot controller in real time, Calculate and apply the dynamic limit of robot speed and acceleration (the specific limit depends on the robot configuration) to protect the joint from excessive force and torque load. With this joint load dynamic (rather than static) limit, in fact, it can generally improve the average running speed and acceleration of the robot, so as to improve the efficiency of the robot.

總之，從上面我們可以看出動(dòng)力學(xué)模型從機(jī)器人設(shè)計(jì)階段就開始發(fā)揮重要作用。在機(jī)器人設(shè)計(jì)定型，運(yùn)行階段的高性能軌跡跟蹤，負(fù)載識(shí)別，碰撞檢測(cè)，以及預(yù)測(cè)性維護(hù)等方面發(fā)揮著重要角色。也許還有很多其他的功用，歡迎補(bǔ)充和交流。

In short, we can see from the above that the dynamic model plays an important role from the robot design stage. It plays an important role in robot design finalization, high-performance trajectory tracking, load identification, collision detection, predictive maintenance and so on. There may be many other functions. Welcome to supplement and communicate.

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