工业机器人动力学建模对提高机器人末端定位精度有着重要意义。传统工业机器人动力学建模方法多基于机器人杆件刚性假设，未能满足因臂杆柔性引发的机器人弹性振动现象的建模需求。为此，对多质心有限质点法及其在工业机器人动力学建模的应用进行研究。该方法使用简便统一的框架对杆件柔性变形进行动力学分析，其逆向运动方式，相对于传统有限质点法，不仅推导流程更为简单方便，而且有效降低了单元刚体位移对节点纯变形求解的影响，提高了对于工业机器人这种刚体大转动-柔性变形耦合模型计算的收敛性。通过悬臂梁模型验证了该方法的准确性和收敛性。进一步将多质心有限质点法结合正运动学对工业机器人动力学建模，将建模结果与实验数据对比，验证了该模型的结果与实验结果有着较好的重合度。

The dynamic modeling of industrial robots is of great significance to improve the positioning accuracy of the robot end. Traditional industrial robot dynamics modeling methods are mostly based on the rigidity assumption of the robot rod, which fails to meet the modeling requirements of considering the robot elastic vibration phenomenon caused by the flexibility of the arm. For this reason, the paper studies the multi-centroid finite particle method and its application in the dynamic modeling of industrial robots. In this method, a simple and unified frame was used to perform dynamic analysis on the flexible deformation of the member. Compared with the traditional finite particle method, the reverse movement method not only has a simpler and more convenient derivation process, but also effectively reduces the influence of element rigid body displacement to solve the pure deformation at the node. This improves the computational convergence of the rigid body large rotation-flexible deformation coupling model for industrial robots. The cantilever beam model verified the accuracy and convergence of the method proposed in the paper. Furthermore, the multi-centroid finite particle method was combinedly used with the positive kinematics to model the dynamics of the industrial robot, and the modeling results were compared with the experimental data, which verifies that the results by the model and the experimental results have a good degree of coincidence.