中文摘要：

分析了拖挂式移动机器人运动过程中连杆长度与相邻车体间夹角的关系．从连杆长度这一参数入手进行结构优化，在满足相邻车体间夹角约束的前提下，把系统最小转弯半径降到了最低，从而有效提高了机器人跟踪路径的能力，所得结论可用于指导机器人系统的结构设计．在此基础上，进一步提出了实现连杆动态伸缩控制的思想．

英文摘要：

Relationship between the link length and the angle of two neighbouring bodyworks is analyzed when a tractortrailer mobile robot is moving. Then we optimize the robot structure by setting the llnk length. So, we minimize the minimalturning-radius of the robot system under the precondition that the angle constraint is met. Then the tracking ability of the robot system is enhanced effectively. The conclusion can be used to guide the robot design. Furthermore, the idea of dynamic retractility control of the link is proposed.