中文摘要：

精确定位和高效制孔是自主移动式自动化制孔设备研制的难点。针对一种行走定位一体化的并联六足飞机制孔机器人，提出一种运动学模型。与基于固定坐标系的运动学模型不同，该模型基于机器人身体平台随动坐标系，仅需测量各腿支链的伸缩长度和制孔目标位姿偏差，便能进行末端执行器任意位姿调节，可同时进行制孔位置和法向精确定位。其降低了测量系统的难度和误差，确保了较高的定位精度和制孔效率。应用该模型进行制孔操作规划并仿真分析，最后在真实样机上实验，实验结果表明机器人可以很好地完成位姿调节和制孔操作。

英文摘要：

Precise positioning and high efficient drilling are the difficulties in the development of autonomous mobile automatic drilling equipment. Aimed at a walking-positioning integrated parallel hexapod robot, the paper put forward a kinematics model which is based on a moving robotic body coordinate system rather than a fixed coordinate system. Applying the kinematics model, the end executor can achieve arbitrary pose adjustment and synchronously precise positioning of drilling position and normal direction by only measuring the flexible length of the respective branch legs and the pose deviation of the drilling target, which ensure higher accuracy and drilling efficiency and reduce difficulty and error of measuring system. In this paper, the kinematic model is used to carry out drilling operation planning and simulation analysis, and finally it will be tested on the prototype. The experimental results show that the robot can complete the pose adjustment and drilling operation well.