中文摘要：

针对加速度驱动型三关节体操机器人，从机理和数据两方面进行了动力学模型分析．首先通过机理分析得到模型的刚体动力学分量和电机驱动分量；然后通过加速度阶跃响应曲线分析得到纯滞后分量．综合这3种分量，确定三关节体操机器人的模型结构，并利用改进的遗传算法对该综合模型进行参数辨识．将辨识后的模型与实际系统进行比较，讨论了产生误差的原因．

英文摘要：

The dynamic model of an acceleration driven three-link acrobot is analyzed by using mechanism and data based methods. The rigid body dynamic and motor driven models are given via mechanism analysis and the pure delay model is indicated by the acceleration pulse response curve. The three model components are integrated into a complex model structure for the dynamic model of the whole three-link acrobot. An improved generation algorithm（GA） is used to identify the parameters of the integrated model. The outputs of the model and robot are compared and the factors causeing the errors are discussed.