中文摘要：

对一种新型可变形多足移动机器人的单腿串联机构进行了运动学分析，构建了可变形移动机器人腿部的运动学模型，利用DH法则构建了可变形移动机器人腿部的运动学方程，并对运动学方程正解和逆解进行了求解和仿真验证。结果表明了所应用方法的正确性。

英文摘要：

In this paper, firstly single leg kinematics of a new type deformable mobile robot was analyzed and the kinematics of the robot＇s single leg was construeteed, and the kinematics equations of this model was built based on DH rule. Then the forward kinematics and the inverse kinematics of the deformable mobile robot＇s single leg were solved and simulated. Finally the results of the simulation suggest that the method in this paper is correct and practical, and it gives a new road to solve the new kind mobile robot＇s kinematics.