中文摘要：

对机械手动力学模型和两点间系统最大负载轨迹优化问题进行了研究.具体以多体动力学为基础,根据Chasles定理采用罗德里格公式（Rodriguez formula）定义了系统构件旋转矩阵,进而采用拉格朗日原理构建了系统动力学模型,以此为基础,采用线性迭代（ILP）法获取了机械手可以实现的最大负载工况下的优化轨迹,并采用系统动力学方程校证了ILP法的有效性与正确性.最后,对三自由度空间机械手进行了最大负载轨迹优化仿真,并对仿真结果进行了分析.

英文摘要：

Both the dynamic modeling and the computational procedure for obtanining optimal trajectory of manipulators to maximize their load carrying capacity for a given point-to-point task were studied.Based on muti-bodydynamics,the transformation matrices of system components were defined by the Rodrgiuez formula according to the Chales theory.Then,the system dynamic model of a manipulator was derived via the Lagrangian approach.An iterative linear programming（ILT） method was used to obtain the optimized trajctory for a manipulator and the effectiveness and correctness of the ILT method were valuated by the dynamic model.At last,the maximum load simulation for one numerical example involving a 3-DOF spacial manipulator using the approach was conducted and the results were discussed.