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利用作者提出的机器人动力学通用算法￣［１］，讨论了当机器人含有闭链结构时的动力学计算处理方法，并与传统的几种力学算法在计算效率方面进行了比较。结果表明：本文算法所需计算量与牛顿－欧拉算法相当，但比其它传统算法计算量要少，井克服了牛顿－欧拉算法不易于处理含闭链结构的机器人动力学的不足之处．
Based on the general algorithm of robot dynamics proposed by the author [1], the dynamic calculation and processing method of robot with closed-chain structure is discussed and compared with the traditional computational efficiency of several mechanical algorithms. The results show that the computational cost of this algorithm is equivalent to that of Newton-Euler algorithm, but its computational cost is less than that of other traditional algorithms. It overcomes the shortcoming of Newton-Euler algorithm that it is not easy to deal with robot kinematics with closed-chain structure .