串联机械臂（Serial　Manipulator）结构简单，控制方便、安装和维护成本低廉等优点，目前已经成为工业应用最广泛的机械结构。本文以一类自主研发的七自由度串联机械臂（7 DOF Serial Manipulator，简称 7DSM）为研究对象。从多体动力学角度，
对机械臂性能进行系统研究，为机械臂性能分析提供必要的理论依据，对深入研究此
类机器人具有重要指导意义。(Serial　manipulator　occupied　the　advantage　of　simple　structure,　convient　control strategy,　and　low　cost　of　repairing　and　maintenance,　and　it　turns　to　be　one　of　the　most wildly　used　structure　in　industry　application.　This　paper　studied　the　7-DOF　Serial Manipulator　(7DSM)　developed　by　our　own effort.　From　the　view　of　multibody　dynamic, and　the　systematic　research　about　this　structure　was　carried　on.　All　the　result　provided nessensery　evidence　for　the　property　analysis　of　this　serial　manipulator,　and　gives　an important instruction for the further reaserch of this kind of robot. The main content of this paper is shown as below.)