中文摘要：

由于可重构机器人构型的多样性，其动力学的分析方法要求建模方便，并且具有通用性。基于此，讨论在运动螺旋和力螺旋的基础上采用拉格朗日方程建立机器人动力学方程的方法。采用运动螺旋和力螺旋表示，可以对机器人各杆件建立统一的坐标系，方程可表示成简洁的形式；可方便地实现力／力矩在不同坐标系之间的转换及末端执行器上的力／力矩与各关节力矩之间的转换，适合分析复杂的受力情况。动力学拉格朗日方程为封闭显式状态方程，便于进行构型的设计和校验、运动仿真以及控制系统的分析与综合，适应可重构机器人构型多变的特点。最后给出动力学分析的具体方法和步骤，并对一个典型的可重构机器人构型进行仿真计算。

英文摘要：

The dynamics analysis of reconfigurable modular robots should be easily modeled and be universal, because such robots may assume various configurations. Based on twists and wrenches representations, the Lagrangian equations of dynamics is discussed. By using this method, all robot link frames can be assigned in unified form, and the equations are expressed in explicit closed-form. It facilitates the transformation of the force/moment between different frames and the transformation of the force/moment between end-effector and the torques of all joints, thus complex action cases can be analyzed. The explicit dynamics equations are convenient for the design and verification, motion simulation and control analysis and synthesis of various configurations. At last the detailed dynamics analysis procedure is given and a typical configuration simulation is illustrated as well.