中文摘要：

为使机器人仅利用较少的自由度就可实现移动及转向，提出了一种具有空间正交四边形几何形态的新型滚动机器人．该机器人本体是一个14杆16副的空间连杆机构，由2个平台和4条支链构成，外观形态为一对空间正交的四边形．并基于其自由度与运动原理，分析了该机器人的稳定性和滚动方向，进行了运动仿真．制作了一台原理样机进行实验以验证概念的可行性．实验结果表明，该机器人能够在2个驱动器控制下以翻滚步态实现全方位移动．

英文摘要：

To make the robot move and turn with only a few degrees of freedom, a new rolling robot with the geometry configuration of two spatial-crossed parallelograms was proposed. The structure of the robot is a spatial mechanism consisting of 14 links and 16 joints. The robot is composed of two platforms and four limbs and has the apparent configuration of two spatial-crossed parallelograms. Based on the moving principle and its degree of freedom, the stability and rolling direction were analyzed. The kinematic simula- tion was performed. Finally, a prototype was developed to verify the feasibility of the proposed concept. The experiments testify its omnidirectional movement realized by the rolling gait under the control of two actuators.