中文摘要：

建立了仿生蟑螂机器人在三腿支撑状态下的等效并联模型，运用旋量理论和指数积公式，对其运动学进行了分析；提出了利用Paden-Kahan子问题法数值求解机器人六自由度腿的关常角位移的逆运动学方法．前向运动学的求解首先根据机体的自然约束建立两条描述前向运动学的支路，然后利用其等价关系，结合指数积公式推导得到机体位姿；在Martab下对提出的运动学算法进行了验证．为后续的运动学分析和轨迹规划奠定了基础。

英文摘要：

The paper has established an equivalent parallel mechanism of a muhi freedom cockroach robot and analyzed its kinenlalics with twist thcory and product of exponential formula. Based on the Paden Kahan sub problem method, a numerical method for inverse ki- nematics has been presenled for thc 6-DOF leg of the robot. According to the natural constraint of the configuration, two different equations for the forward kinematics problem have been built. With the product of exponential formula, a forward kinematics can he deduced by their equality. Finally, the proposed methods have been validated by nsing MATLAB.