中文摘要：

针对移动系统性能的基本要求,结合渐开线球齿轮机构能够同时传递空间偏摆运动和旋转运动的特点,提出了使用串联渐开线球齿轮机构的轮腿复合移动系统,给出了系统机构的整体设计方案,分析了系统的运动形式,利用计算机仿真和样机试验两种方式,对系统的运动进行了分析,计算出了运动过程参数,验证了系统的运动形式,为系统在机构设计与路径规划研究等方面提供了依据,也为对系统后续的动力学的分析与仿真打下了一定的理论基础。

英文摘要：

The mobile system should meet some basic characteristic requirements. A design is presented adopting the ring involute spherical gear structure as the wheel-leg of mobile system,which combining with the features of ring involute spherical gear structure that can transfer oscillation and rotation simultaneously. The whole mechanism scheme is presented and analysed. The whole moving process of system is simulated by computer simulation technology and virtual prototyping technology.The results lay the foundation for mechanism design and path planning and so on lay the mathematical foundation of reaearch on dynamical analysis and simulation.