机器人的研发设计过程是多学科互相交叉影响的迭代过程，强调协同设计(co-design)理念. 运动学模型和动力学模型为机器人在技术规范和成本约束下的设计及性能优化提供了重要基础。机器人的设计和控制基于同一个机器人模型，这样可以在机器人样机制造之前，就可以分析机器人的控制性能以及评估机器人控制软件。

The R & D and design process of robot is an iterative process of interdisciplinary interaction, which emphasizes the concept of co design. The kinematic model and dynamic model provide an important basis for the design and performance optimization of robot under technical specifications and cost constraints. The design and control of the robot are based on the same robot model, so that the control performance of the robot can be analyzed and the robot control software can be evaluated before the robot prototype is manufactured.

另外基于动力学模型特别支持了驱动链包含电机，减速机，驱动单元的开发或选型，我们知道关节动力单元占据了机器人的很大部分成本。从它的设计过程我们也能看出动力学模型的重要功用。机器人关节驱动链一般设计步骤：

In addition, based on the dynamic model, the development or selection of the drive chain including motor, reducer and drive unit is particularly supported. We know that the joint power unit accounts for a large part of the cost of the robot. From its design process, we can also see the important function of dynamic model. General design steps of robot joint drive chain:

a）根据设计要求中的机器人工作空间和负载，定型运动支链基本尺寸和材质选择；

a) According to the robot workspace and load in the design requirements, the basic size and material selection of the fixed motion branch chain;

b）根据刚体动力学模型计算，估算所需的关节力矩和功率大小；

b) According to the rigid body dynamics model, the required joint torque and power are estimated;

c) 依据控制带宽要求和弹性动力学模型分析，设计机械结构尺寸保证足够的机械带宽。

c) According to the control bandwidth requirements and elastic dynamics model analysis, the mechanical structure size is designed to ensure sufficient mechanical bandwidth.

为了使得关节驱动链选型不小也不过分的大（尽量做到小化成本），充分发挥其性能，将关节驱动链的模型集成于机器人的多体动力学模型中（即形成连杆到关节到关节内部的动力学模型），这些模型实时运行在机器人控制器中，计算和施加机器人速度和加速度的动态限值（具体限值取决于机器人位形），保护关节受到过大的力和力矩负载。有了这种关节负载动态（而非静态）限值，其实总体上是可以提升机器人的平均运行速度和加速度，从而提升机器人效率。

In order to make the selection of joint drive chain not small or too large (minimize the cost as much as possible) and give full play to its performance, the model of joint drive chain is integrated into the multi-body dynamic model of robot (i.e. forming the dynamic model from link to joint to joint), and these models run in the robot controller in real time, Calculate and apply the dynamic limit of robot speed and acceleration (the specific limit depends on the robot configuration) to protect the joint from excessive force and torque load. With this joint load dynamic (rather than static) limit, in fact, it can generally improve the average running speed and acceleration of the robot, so as to improve the efficiency of the robot.

总之，从上面我们可以看出动力学模型从机器人设计阶段就开始发挥重要作用。在机器人设计定型，运行阶段的高性能轨迹跟踪，负载识别，碰撞检测，以及预测性维护等方面发挥着重要角色。也许还有很多其他的功用，欢迎补充和交流。

In short, we can see from the above that the dynamic model plays an important role from the robot design stage. It plays an important role in robot design finalization, high-performance trajectory tracking, load identification, collision detection, predictive maintenance and so on. There may be many other functions. Welcome to supplement and communicate.

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