This paper presents a new
recursive algorithm of robot dynamics based on the Kane's dynamic
equations and Newton-Euler formulations. Differing from Kane's work, the algorithm
is general-purpose and can be easily realized on computers. It
is suited not only for robots with all rotary joints
but also for robots with some prismatic joints. Formulations of
the algorithm keep the recurrence characteristics of the Newton-Euler formulations,
but possess stronger physical significance. Unlike the conventional algorithms, such
as the Lagrange and Newton-Euler algorithm, etc., the algorithm can
be used to deal with dynamics of robots containing closed
chains without cutting the closed chains open. In addition, this
paper makes a comparison between the algorithm and those conventional
algorithms from the number of multiplications and additions.