Abstract: In this paper, we present the simulation of dynamics of a robot with a spherical wrist. The simulation of robot dynamics is concerned with the trajectory programming, the solution of inverse problem of kinematics and the dynamic equations of robot. For a six-d. o. f. anthropomorphic manipulator, we use the method of parting system to solve the inverse problem of kinematics, and present a method of constructing mathematical models of robot dynamics by using Kane’s dynamics. In ;constructing the dynamic models, the advantage of recurrence by using Newton’s method is presered. These algorithms are very simple and efficient for computer programming and calculating.

Key words: 动力学, 动力学模拟, 机构学, 机器人