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本文研究由一个牵引车和Ｎ－１个拖车所组成的移动机器人系统的动力学。采用ＫＡＮＥ方法建立此系统的动力学模型，其中导出式系数的计算采用了递归算法，基于此进一步给出拖车节数变化后系统动力学模型重构方法
This paper studies the dynamics of a mobile robot system consisting of a tractor and N-1 trailers. The KANE method is used to establish the dynamic model of this system. The derivation coefficient is calculated by recursion algorithm. Based on this, the method of reconstruction of system dynamics model is given