以4-DOF混联机器人为研究对象，分析了混联机器人的运动学，接着基于传统键合图建立了系统驱动部分（电动机和气动部分）键合图模型，基于旋量键合图建立了系统机械本体动力学模型，由于系统的并联部分引入冗余驱动，提出了采用输入力矩优化的方法，增加了1个补充方程，最终得到了该机器人完整的机、电、气耦合的多能域系统动力学全解模型。冗余驱动分支在随动和施加优化得到的力矩（力/位混合控制）两种情况下，借助键合图自动化仿真软件（20-sim）进行多能域动力学仿真；并进行样机的控制试验，将仿真与试验得到的驱动力矩进行对比，验证了所建机器人系统多能域动力学模型的正确性。通过试验可以证明：力/位混合控制时样机运行更加平稳且能有效提高机构的运动精度。
4-DOF hybrid robot is taken as the research object. Firstly the kinematics of hybrid robot is analyzed and the system driving (motor and pneumatic parts) bond graph model has established based on the traditional bond graph, the system dynamics model of mechanical has established based on the screw bond graph theory. Because the system uses parallel redundant actuation, added one additional equation base on the power input method optimization to finally get the robot complete machine, electricity and gas coupling of multi energy domains system dynamics model. In the two case of the redundant driving branch is casual and applies with optimized force (force/position hybrid control), according to the planning trajectory with bond graph automatic simulation software (20-sim) multi domain dynamic simulation; the control experiment of the prototype is carried out and the driving torques obtained by simulation are compared with the experimental results. So, the robot system can validate the correctness of the multi domain dynamics model. The experimental results show that the machine runs more smoothly and effectively improve the kinematic accuracy when the machine controlled through the hybrid force/position control.
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