機器人的研發(fā)設(shè)計過程是多學(xué)科互相交叉影響的迭代過程，強調(diào)協(xié)同設(shè)計(co-design)理念. 運動學(xué)模型和動力學(xué)模型為機器人在技術(shù)規(guī)范和成本約束下的設(shè)計及性能優(yōu)化提供了重要基礎(chǔ)。機器人的設(shè)計和控制基于同一個機器人模型，這樣可以在機器人樣機制造之前，就可以分析機器人的控制性能以及評估機器人控制軟件。

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.

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

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)計要求中的機器人工作空間和負(fù)載，定型運動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)剛體動力學(xué)模型計算，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力學(xué)模型分析，設(shè)計機械結(jié)構(gòu)尺寸保證足夠的機械帶寬。

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

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力學(xué)模型從機器人設(shè)計階段就開始發(fā)揮重要作用。在機器人設(shè)計定型，運行階段的高性能軌跡跟蹤，負(fù)載識別，碰撞檢測，以及預(yù)測性維護等方面發(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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