中文摘要：

应用旋量理论建立了SCARA机器人的运动学模型，并以此为基础建立动力学模型。此方法融合了拉格朗日，牛顿一欧拉法以及旋量的特点，易于求解。简要讨论了动力学与机器人轨迹精度。

英文摘要：

The paper applies of screw theory to establish SCARA robot＇s kinematics model, and builds a dynamics model based on it. This method combines the characteristics of Lagrange method, Newton-Euler method and screw theory, makes it easy to solve. The relationship between the robot trajectory accuracy and dynamics is discussed briefly.