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利用Ｊｏｕｒｄａｉｎ原理来消除约束反力，并通过引入Ｌａｇｒａｎｇｅ乘子释放约束，得到了机械臂正动力学非递推形式的计算模型．由于在这种模型中引进了一些冗余计算，因此减弱了方程中各计算量之间的依赖性，从而提高了模型的内在并行性．为了尽量减少并行计算所需处理器的数目，本文采用了求解规模缩减技术，并基于这个模型提出了一种面向Ｏ（ｎ）个处理器的机械臂正动力学的并行计算策略．最后以ＰＵＭＡ５６０机器人的前三个臂为例进行了计算效率分析
The Jourdain principle was used to eliminate the restraining reaction and the Lagrangian multiplier release constraint was used to obtain the non-recursive formal computational model of the robot dynamics. Due to the introduction of some redundant computations in this model, the dependencies between the computations in the equations are weakened, which enhances the intrinsic parallelism of the model. In order to minimize the number of processors required for parallel computing, this paper uses a solution to size reduction techniques and proposes a parallel computational strategy based on this model for O (n) processors. Finally, taking the first three arms of PUMA560 robot as an example, the computational efficiency is analyzed