SCARA 机器人在工业生产中得到了广泛应用． 为满足高速、高精度的要求，必须对 SCARA 机器人进行动力学分析． 文中用牛顿欧拉方法对 SCARA 机器人进行动力学建模，并将摩擦力以及电机转子对关节力矩的影响纳入动力学模型，得出了关节力矩关于一组可辨识参数集的线性表达式． 采用傅里叶级数作为激励轨迹进行实验，并通过最小二乘法对得出的可辨识动力学参数集进行辨识． 实验证明，通过推导的线性表达式计算出的关节力矩理论值与实际值的变化趋势一致． 运用所提方法辨识的动力学参数进行动力学建模，能得到 SCARA 机器人运动时的关节力矩，可为后期的动力学控制提供基础计算公式．

SCARA robots have been widely used in industrial production.In order to meet the requirements of high speed and high precision,it is necessary to conduct a dynamics analysis of SCARA robots.In this paper,a dynamic model of a SCARA robot is constructed by means of the Newton-Euler method.Then,the effects of friction and mo- tor rotors on joint torques are taken into account in the dynamic model,and a linear expression of the joint torque with respect to a set of identifiable parameters is established.Finally,the excitation trajectories generated by means of the Fourier series formulation are used in an excitation experiment,and the least squares method is employed to identify the identifiable parameters.Experimental results show that the variation trend of the joint torque obtained through the established linear expression is consistent with that of the actual value.When the dynamic parameters obtained through the identification method proposed in this paper are applied to a dynamic modeling,the joint torque of a running SCARA robot can be achieved.The proposed method can provide basic equations for the future work on a dynamic control.