本文以Ｋａｎｅ 动力学方程为基础，给出了一种分析和计算具有开链和闭链混合机构的机器人的动力学逆问题的新方法．通过划分逻辑开链计算速度和加速度；求出广义速度之间的偏导数后，算出偏速度；根据偏速度用Ｋａｎｅ 方程得到各杆的驱动力或力矩．计算过程具有递推性、规范性，便于计算机编程，也比较简洁易懂． Based on the Kane kinetic equation, this paper presents a new method to analyze and calculate the inverse kinematics of robots with open-chain and closed-chain hybrid robots. The velocity and acceleration are calculated by splitting the logic chain. The partial derivatives between generalized velocities are calculated to calculate the bias velocities. Kane equations are used to obtain the driving force or moment of each rod according to the bias velocities. The calculation process has recursion, normative, easy to computer programming, but also more concise and easy to understand.