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中文摘要：
针对一种腿臂机构功能融合设计的三肢体机器人,将其肢体操作模式作为移动模式下的特殊状态进行分析,将机器人整体的运动学分析分解为各肢体分别作为站立腿和摆动腿的运动学组合问题,实现了机器人2种工作模式运动学模型的统一,并分别进行了规划.通过机器人步态运动仿真验证了理论分析的正确性,为机器人控制器的设计提供了理论基础.
英文摘要：
Aiming at a three-limb robot with integration of its arm and leg mechanism, regarding robot＇s limb operating pattern as the special work process of its motion pattern, and translating kinematics analysis of the whole robot into the task of a kinematic combination of each limb acting as a standing or a swinging foot, the unification of kinematics model of the robot under circumstances of locomotion and operation is successfully realized. Working patterns of the three-limb robot in the state of both locomotion and operation are planned. A gait simulation of the three-limb robot is performed, it therefore justifies the previous theoretical analysis and lends a solid theoretical basis to the design of the robot controller in the future.
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