中文摘要：

提出一种基于仿生关节的新型轮-腿复合式移动系统。该系统在功能上和结构上都真正实现了“轮腿融合”，利用一套机构实现了轮、腿双重功能；驱动器安装在基座上，不仅减小了负载，也降低了布线难度。在分析系统的运动原理后，针对单纯的偏摆运动和自旋运动分别给出了其运动学模型，并进一步指出了两种运动模式的相互渗透和影响，得到了完整的运动模型。选定一个实例对系统运动特性进行研究，理论计算和虚拟样机仿真结果表明，所建立的运动学模型反映了系统真实的运动状态。物理试验样机姿态调整试验表明，所提出的移动系统具备轮一腿复合功能，能够使平台实现多种运动模式。

英文摘要：

A new wheel--legged locomotive system was put forward. An attribute of this mechanism, from the mechanism view point,lay in the fusion in function and in structure, just using a set of mechanisms. Unlike previous locomotive system, the actuators in this system were fixed on the base. The change of the actuator positions reduced the payload of the system and simplified the wire routing. Afterwards, the working characteristics were analyzed in legged mode and wheeled mode. Furthermore, the kinematic model was deduced step by step, from the single legged/wheeled mode to the wheel--legged mode. Especially, the interaction between the two modes was pointed out. An example was given to testify the kinematic equations. Results from the theoretical computation and the virtual prototyping simulation indicate the equations accord with the actual working state of the system. Fi- nally, a moving platform is assembled as a mechanical--only pose realizing test model. It is clear that the system proposed herein works well in legged/wheeled or wheel--legged mode.