本文从旋量入手,详细深入地论证和推导了螺旋变换,逆变换及其微分,并结合牛顿-欧拉方法给出了一种用于机器人动力学分析计算的旋量方程。全部推导过程十分简洁,思路独特,得到的机器人动力学模型也非常简洁,而且便于数字计算。文中理论同时也为其它空间机构的运动和动力分析提供了一条新路子,文章最后给出的例子证实了文中理论和数学推导的正确性. In this paper, we start from the spin, and prove and derive the spiral transformation, the inverse transformation and its differential in detail and in depth, and give a new spinodal equation for the robot dynamic analysis and calculation based on the Newton-Euler method. All derivation process is very simple, unique thinking, the robot kinematics model is also very simple, and easy to calculate. The textual theory also provides a new way for the analysis of the motions and dynamics of other space agencies. The examples given at the end of this article confirm the correctness of the theoretical and mathematical deductions in the text.