This letter proposes a systematic modular procedure for the dynamic modeling of branched robots comprising several subsystems, each of which being composed of multiple rigid bodies. Furthermore, the proposed strategy is applicable even if some subsystems are regarded as black boxes, requiring only the twists and wrenches at the connection points between different subsystems. To help in the model composition, we also propose a graph representation that encodes the propagation of twists and wrenches between the subsystems. Numerical results show that the proposed formalism is as accurate as a state-of-the-art library for robotic dynamic modeling.

翻译：本信提出由几个子系统组成的分支机器人动态模型的系统模块化程序,每个子系统都由多个硬体组成;此外,即使一些子系统被视为黑盒,只要求不同子系统之间连接点的曲折和扳手,拟议战略也适用;为了帮助模型的构成,我们还提议了一个图形表示法,以编码子系统之间曲折和扳手的传播。数字结果显示,拟议的形式主义与机器人动态模型最先进的图书馆一样准确。