Abstract: For easily calculating the parameters of a robot dynamic equations, this paper established a new formula. It simplifies both kinematic and dynamic treatments by using generalized mass and generalized inertia for a total consideration of the dynamic influences on all links and a total treatment of all kinematic characteristics. In comparison with other formulas for the establishment of dynamic equation, the method of this paper has the advantage of less calculation labor and more concise formula structure. It presents clearly the relationships between all parameters and the link mass characteristics & kinematic characteristics, thus facilitates the studies of the structure and property and qualitative theory of the robot dynamic equation.