在对HNC -IR机器人进行结构分析的基础上 ,建立了机器人运动学模型 ,提出了一种新的机器人逆运动学的求解方法 ,与传统方法相比 ,此方法大大减少了计算运动方程正逆解的计算量。这里还结合具体机构 ,对一次逆解过程中解方程没有封闭解的情况 ,运用多重计算的方法作了处理 ,取得了很好的效果。 Based on the structural analysis of the HNC -IR robot, a kinematic model of the robot is established and a new method of solving the inverse kinematics of the robot is proposed. Compared with the traditional method, this method greatly reduces the positive and negative Solution of the calculation. Here, we also combine the specific agencies to deal with the problem that there is no closed solution to the equation in the process of an inverse solution, and the method of multiple calculation is used to deal with it and achieved good results.