A Recursive Algorithm of Robot Dynamics Based on the Kane's Dynamical Equation

This paper presents a new recursive algorithm of robot dynamics based on the Kane's dynamical equation.The algorithm is simple and illustrative,and can be used for solving dynamic problem of robots containing closed-chain without cutting the closed-chain open. Also, it is especial available to CAD of robot because it can be easily realized on computer.In the end of the paper,an example of computation of dynamics of robot with 2-DOF and one closed-chain is given to demonstrate computing stages and methods of establishing dynamic equation of robot using the new algorithm.