中文摘要：

人机合作机器人（Cobot）是一种新型的机器人,它可以和操作者在同一作业空间内直接协同作业。以Kane方法和五杆Cobot的运动学为基础,以机座关节所连的两个运动杆件的角速度作为广义速率,推导出各杆质心的偏速度和各杆的偏角速度,进而推导出五杆Cobot自由模式和约束模式时的动力学方程。利用MATLAB进行了数值仿真,仿真结果表明,该机器人具有被动和约束的特点。该动力学方程可以应用于Cobot的控制特性分析、仿真等方面。

英文摘要：

Cobot（collaborative robot） is a new kind of robot,and it intended for direct collaborative work with a human op-erator.A formulation based on Kane Equation and kinematics of five bar Cobot was educed,which includes free and con-straint mode.The velocities of the two bars which linked to base joint were chosen as generalized velocities.The partial ve-locity of each bar centroid and the partial angular velocity of each bar were educed.The numerical simulation of the dynam-ics was carried out by using MATLAB software.The simulation results show that the Cobot has passive and constraint char-acteristics.The dynamics can provide theoretical bases for analysis and simulation of the Cobot control and so forth.