中文摘要：

并联机构结构简单且具有较高的承载能力,将并联机构用于步行机器人,能够在很大程度上提高步行机器人的载重和行走效率,为此提出一种新型的步行机器人。该机器人本体采用3-RPC并联机构,具有3移动自由度,可以在不调整身体姿态的情况下向任意方向移动。采用螺旋理论分析该机器人实现三维移动的机构学原理并验证了自由度,给出位置反解的算法并绘出工作空间,结合3＋3步态对机器人的行走运动进行运动学动态仿真分析,仿真结果显示机器人可以实现连续行走且步态平稳,表明该设计正确合理,具有一定的可行性。此外,由于采用并联机构,与传统多足步行机器人相比,该机器人还有容易得到位置反解等优点,有利于步行机器人的结构设计与运动规划,也拓宽并联机构的应用领域。

英文摘要：

A new walking robot is presented based on 3-RPC parallel mechanism which can perform three-dimensional translations and move in any direction without adjusting its own posture.The walking robot can improve payload-weight ratio and walking efficiency by using parallel mechanisms with simple structure and high carrying capacity.The principles that the robot can perform the above motions are analyzed by using screw theory,then the inverse position kinematics is calculated and the workspace is discussed.The kinematics simulation using 3＋3 gait bears out that the robot can walks smoothly and continuously,and it indicates that the design is correct and reasonable and has feasibility.Furthermore,by designing on parallel mechanism,compared with the traditional walking robot,the solution to the inverse kinematics problem of the walking robot can be derived easily;this is beneficial to the design and motion planning of the walking robot.The bringing forward of this walking robot broadens the application fields of parallel mechanisms.