中文摘要：

针对四足步行机器人机构运动学求解问题进行了研究。以螺旋理论为分析手段，提出一种基于等效并联机构的步行机器人运动分析方法。将四足机器人3足落地和4足落地状态的运动状态等效为3-UPS和4-UPS并联机构，进行了步行机器人3足、4足落地时的等效并联机构自由度分析，证明其自由度设计的正确性。对单腿机构的运动空间进行了分析和计算，通过比较研究，选取其中运动空间合理的单腿机构配置方式。最后，通过对对应等效并联机构的运动学分析，解决了不同运动状态下的四足步行机器人机构的运动学求解问题。

英文摘要：

The paper provides a kind of novel 4-leg quadruped robot, and presents a new method to solve the kinematical problem of d-leg quadruped robots according to the point of the equivalent parallel manipulator. Based on the theory of screw, the paper analyzes the degree of freedom of the robots with 3 or 4 touchdown legs, and proves that the design for degree of freedom is available. The workspace of the single leg mechanism is analyzed and calculated by comparatively studying of workspaces, and the reasonable single leg configuration is selected. The kinematical situations of 3-leg touchdown and 4-leg touchdown are equivalent to 3-UPS and 4-UPS parallel manipulators. By kinematical analysis of the equivalent parallel manipulator, the kinematical solutions of the novel 4-leg quadruped robot are obtained.